Redundancy, efficiency and robustness in multi-robot coverage

Noam Hazon, Gal A. Kaminka

פרסום מחקרי: פרק בספר / בדוח / בכנספרסום בספר כנסביקורת עמיתים

125 ציטוטים ‏(Scopus)

תקציר

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.

שפה מקוריתאנגלית
כותר פרסום המארחProceedings of the 2005 IEEE International Conference on Robotics and Automation
עמודים735-741
מספר עמודים7
מזהי עצם דיגיטלי (DOIs)
סטטוס פרסוםפורסם - 2005
פורסם באופן חיצוניכן
אירוע2005 IEEE International Conference on Robotics and Automation - Barcelona, ספרד
משך הזמן: 18 אפר׳ 200522 אפר׳ 2005

סדרות פרסומים

שםProceedings - IEEE International Conference on Robotics and Automation
כרך2005
ISSN (מודפס)1050-4729

כנס

כנס2005 IEEE International Conference on Robotics and Automation
מדינה/אזורספרד
עירBarcelona
תקופה18/04/0522/04/05

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