Carnegie Mellon University
The
Multi-robot long-term persistent coverage with fuel constrained robots.

Derek Mitchell, Micah Corah, Nilanjan Chakraborty, Katia Sycara, and Nathan Michael
Robotics and Automation (ICRA), 2015 IEEE International Conference on, May, 2015, pp. 1093 - 1099.


Abstract
In this paper, we present an algorithm to solve the Multi-Robot Persistent Coverage Problem (MRPCP). Here, we seek to compute a schedule that will allow a fleet of agents to visit all targets of a given set while maximizing the frequency of visitation and maintaining a sufficient fuel capacity by refueling at depots. We also present a heuristic method to allow us to compute bounded suboptimal results in real time. The results produced by our algorithm will allow a team of robots to efficiently cover a given set of targets or tasks persistently over long periods of time, even when the cost to transition between tasks is dynamic.

Notes

Text Reference
Derek Mitchell, Micah Corah, Nilanjan Chakraborty, Katia Sycara, and Nathan Michael, "Multi-robot long-term persistent coverage with fuel constrained robots.," Robotics and Automation (ICRA), 2015 IEEE International Conference on, May, 2015, pp. 1093 - 1099.

BibTeX Reference
@inproceedings{Mitchell_2015_7993,
   author = "Derek Mitchell and Micah Corah and Nilanjan Chakraborty and Katia Sycara and Nathan Michael",
   title = "Multi-robot long-term persistent coverage with fuel constrained robots.",
   booktitle = "Robotics and Automation (ICRA), 2015 IEEE International Conference on",
   pages = "1093 - 1099",
   month = "May",
   year = "2015",
}