A framework for multi-robot coverage analysis of large and complex structures

Coverage analysis is essential for many coverage tasks (e.g., robotic grit-blasting, painting, and surface cleaning) performed by Autonomous Industrial Robots (AIRs). enables (1) the performance evaluation rate operation efficiency) of AIRs a task, (2) configuration design multi-AIR system decision on number to be used). Multi-AIR large complex structures involves addressing various problems. Thus, framework presented in this paper that incorporates modules AIR reachability, base placement, collision avoidance, area partitioning allocation) appropriately associated The within provide flexibility utilizing different methods algorithms, depending requirements target application. tested validated extensive analyses 10 scenarios with up AIRs.