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Carnegie Mellon Robotics Institute

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Abstract

A distributed cooperative coverage algorithm DC/sub R/ is presented, which is derived from an earlier complete single-robot algorithm, CC/sub R/. DC/sub R/ executes independently on each robot in a team where the individual robots do not know the initial locations of their peers and applies to systems of robots operating in a rectilinear environment that use only intrinsic contact sensing to determine the boundaries of the environment. Due to the reactive nature of CC/sub R/, the natural extension to DC/sub R/ preserves the completeness properties of the single-robot algorithm, and the outline of a completeness proof of DC/sub R/ is also presented. DC/sub R/ has been implemented in simulation, and directions for future work are presented which will make the algorithm more suited to physical robot systems.

Notes

Associated Lab(s) / Group(s): Microdynamic Systems Laboratory

Text Reference

Zack Butler, Alfred Rizzi, and Ralph Hollis, "Cooperative Coverage of Rectilinear Environments," IEEE International Conference on Robotics and Automation 2000, April, 2000, pp. 2722 - 2727.

BibTeX Reference

@inproceedings{Butler_2000_3487,
   author = "Zack Butler and Alfred Rizzi and Ralph Hollis",
   title = "Cooperative Coverage of Rectilinear Environments",
   booktitle = "IEEE International Conference on Robotics and Automation 2000",
   pages = "2722 - 2727",
   month = "April",
   year = "2000",
   volume = "3",
}

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