Multi-Robot Foremost Coverage of Time-Varying Graphs
نویسندگان
چکیده
In this paper we demonstrate the application of time-varying graphs (TVGs) for modeling and analyzing multi-robot foremost coverage in dynamic environments. In particular, we consider the multi-robot, multi-depot Dynamic Map Visitation Problem (DMVP), in which a team of robots must visit a collection of critical locations as quickly as possible, in an environment that may change rapidly and unpredictably during navigation. We analyze DMVP in the context of the R ⊃ B ⊃ P TVG hierarchy. We present exact offline algorithms for k robots on edgerecurrent TVGs (R) over a range of topologies motivated by border coverage: an O(Tn) algorithm on a path and an O(T n 2
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