CC R: A Complete Algorithm for Contact-Sensor Based Coverage of Rectilinear Environments

Zack Butler
tech. report CMU-RI-TR-98-27, Robotics Institute, Carnegie Mellon University, October, 1998


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Abstract
Sensor-based coverage is a powerful tool for robots to use to dis- cover their environment, especially in cases when complete knowl- edge of the environment is required. Current methods have demon- strated the ability to cover virtually arbitrary planar areas but re- quire a remote sensor of nite range, such as sonar. The work presented here handles the case of robots that use only contact sensing to determine the boundaries of their environment. An al- gorithm CCR is presented that works in a wide range of rectilinear geometries. A proof of completeness is presented for CCR which shows that it always causes the robot executing it to cover its envi- ronment. Also, possible extensions of CCR to incorporate a wider variety of environments are discussed.

Notes
Sponsor: NSF
Grant ID: DMI-9523156
Associated Lab(s) / Group(s): Microdynamic Systems Laboratory

Text Reference
Zack Butler, "CC R: A Complete Algorithm for Contact-Sensor Based Coverage of Rectilinear Environments," tech. report CMU-RI-TR-98-27, Robotics Institute, Carnegie Mellon University, October, 1998

BibTeX Reference
@techreport{Butler_1998_471,
   author = "Zack Butler",
   title = "CC R: A Complete Algorithm for Contact-Sensor Based Coverage of Rectilinear Environments",
   booktitle = "",
   institution = "Robotics Institute",
   month = "October",
   year = "1998",
   number= "CMU-RI-TR-98-27",
   address= "Pittsburgh, PA",
}