The Multi-robot Coverage Problem for Optimal Coordinated Search with an Unknown Number of Robots
This work presents a novel multi-robot coverage scheme for an unknown number of robots; it focuses on optimizing the number of robots and each path cost. Coverage problems traditionally deal with how a given number of robots covers the entire environment. This work, however, presents solutions of not only (i) how to cover the area (locations of interest) within the minimum time, but simultaneously (ii) how to find the optimal number of robots for a given time. Also, we consider the worst but realistic case of all robots starting at the same location instead of assuming randomly initialized positions. The minimum coverage time depends upon the number of robots used. Our research specifies (iii) how to find the minimum coverage time without knowing the number of robots. Finally, we present a deterministic coverage algorithm based on finding the shortest paths in order to optimize the number of robots and corresponding paths.
Hyeun Jeong Min Nikolaos Papanikolopoulos
Department of Computer Science and Engineering University of Minnesota Minneapolis,MN 55455
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
2866-2871
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）