/Cooperative Coverage of Rectilinear Environments

Cooperative Coverage of Rectilinear Environments

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

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