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Cooperative Coverage of Rectilinear Environments

Zack Butler, Alfred Rizzi and Ralph Hollis
Conference Paper, Carnegie Mellon University, IEEE International Conference on Robotics and Automation 2000, Vol. 3, pp. 2722 - 2727, April, 2000

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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.

BibTeX Reference
@conference{Butler-2000-8017,
title = {Cooperative Coverage of Rectilinear Environments},
author = {Zack Butler and Alfred Rizzi and Ralph Hollis},
booktitle = {IEEE International Conference on Robotics and Automation 2000},
school = {Robotics Institute , Carnegie Mellon University},
month = {April},
year = {2000},
volume = {3},
pages = {2722 - 2727},
address = {Pittsburgh, PA},
}
2017-09-13T10:46:19+00:00