Redundancy, efficiency and robustness in multi-robot coverage

Noam Hazon, Gal A. Kaminka

نتاج البحث: فصل من :كتاب / تقرير / مؤتمرمنشور من مؤتمرمراجعة النظراء

123 اقتباسات (Scopus)

ملخص

Area coverage is an important task for mobile robots, with many real-world applications. Motivated by potential efficiency and robustness improvements, there is growing interest in the use of multiple robots in coverage. Previous investigations of multi-robot coverage focuses on completeness and eliminating redundancy, but does not formally address robustness, nor examine the impact of the initial positions of robots on the coverage time. Indeed, a common assumption is that non-redundancy leads to improved coverage time. We address robustness and efficiency in a family of multi-robot coverage algorithms, based on spanning-tree coverage of approximate cell decomposition. We analytically show that the algorithms are robust, in that as long as a single robot is able to move, the coverage will be completed. We also show that non-redundant (non-backtracking) versions of the algorithms have a worst-case coverage time virtually identical to that of a single robotthus no performance gain is guaranteed in non-redundant coverage. Moreover, this worst-case is in fact common in real-world applications. Surprisingly, however, redundant coverage algorithms lead to guaranteed performance which halves the coverage time even in the worst case.

اللغة الأصليةالإنجليزيّة
عنوان منشور المضيفProceedings of the 2005 IEEE International Conference on Robotics and Automation
الصفحات735-741
عدد الصفحات7
المعرِّفات الرقمية للأشياء
حالة النشرنُشِر - 2005
منشور خارجيًانعم
الحدث2005 IEEE International Conference on Robotics and Automation - Barcelona, أسبانيا
المدة: ١٨ أبريل ٢٠٠٥٢٢ أبريل ٢٠٠٥

سلسلة المنشورات

الاسمProceedings - IEEE International Conference on Robotics and Automation
مستوى الصوت2005
رقم المعيار الدولي للدوريات (المطبوع)1050-4729

!!Conference

!!Conference2005 IEEE International Conference on Robotics and Automation
الدولة/الإقليمأسبانيا
المدينةBarcelona
المدة١٨/٠٤/٠٥٢٢/٠٤/٠٥

بصمة

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