Towards sensor based coverage with robot teams

DeWitt Talmadge Latimer, Siddhartha Srinivasa, Vincent Lee Shue, Samuel Sonne, Howie Choset, and Aaron Hurst
Proceedings of the 2002 IEEE International Conference on Robotics and Automation (ICRA '02), May, 2002, pp. 961 - 967.


Download
  • Adobe portable document format (pdf) (9MB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract
We introduce a new algorithm to cover an unknown space with a homogeneous team of circular mobile robots. Our approach is based on a single robot coverage algorithm, a boustrophedon approach, which divides the target two-dimensional space into regions called cells, each of which can be covered with simple back and forth motions. Single robot coverage is then achieved by ensuring that the robot visits each cell. The new multi-robot coverage algorithm uses the same planar cell-based approach as the single robot approach, but also prescribes the methods by which multiple robots cover a cell, teams are allocated among cells, and sub-teams of robots share information in a minimalistic manner. The advantage of this method is that planning occurs in a two dimensional configuration space for a team of n robots, bypassing the need to plan in a 2n dimensional configuration space. The approach is semi-decentralized: robot teams cover the space independent of each other, but robots within a team communicate state and share information.

Keywords
Multi-robot coverage, sensor-based planning, exact cellular decomposition, boustrophedon decomposition

Notes
Associated Lab(s) / Group(s): Biorobotics
Number of pages: 7

Text Reference
DeWitt Talmadge Latimer, Siddhartha Srinivasa, Vincent Lee Shue, Samuel Sonne, Howie Choset, and Aaron Hurst, "Towards sensor based coverage with robot teams," Proceedings of the 2002 IEEE International Conference on Robotics and Automation (ICRA '02), May, 2002, pp. 961 - 967.

BibTeX Reference
@inproceedings{Latimer_2002_3947,
   author = "DeWitt Talmadge Latimer and Siddhartha Srinivasa and Vincent Lee Shue and Samuel Sonne and Howie Choset and Aaron Hurst",
   title = "Towards sensor based coverage with robot teams",
   booktitle = "Proceedings of the 2002 IEEE International Conference on Robotics and Automation (ICRA '02)",
   pages = "961 - 967",
   publisher = "IEEE",
   month = "May",
   year = "2002",
   volume = "1",
}