Towards robust on-line multi-robot coverage

Noam Hazon, Fabrizio Mieli, Gal A. Kaminka

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

74 Scopus citations


Area coverage is an important task for mobile robots, with many real-world applications. In many cases, the coverage has to be completed without the use of a map or any apriori knowledge about the area, a process referred-to as on-line coverage. Previous investigations of multi-robot on-line coverage focused on the improved efficiency gained from the use of multiple robots, but did not formally addressed the potential for greater robustness. We present a novel multi-robot on-line coverage algorithm, based on approximate cell decomposition. We analytically show that the algorithm is complete and robust, in that as long as a single robot is able to move, the coverage will be completed. We analyze the assumptions underlying the algorithm requirements and present a number of techniques for executing it in real robots. We show empirical coverage-time results of running the algorithm in two different environments and several group sizes.

Original languageEnglish
Title of host publicationProceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Number of pages6
StatePublished - 2006
Externally publishedYes
Event2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States
Duration: 15 May 200619 May 2006

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729


Conference2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Country/TerritoryUnited States
CityOrlando, FL


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