Complex Structure Workspace Sweeping Using Semiautonomous Vacuum Cleaners

The paper presents the study of design and synthesis of the system dedicated for sweeping large and complex spaces using a team of cleaning robots. The problems of coordination of activities of individual robotic-unit is discussed. Application of the Game Theory for creation of coordination algorithms is proposed. The paper deals also with design and implementation of algorithms of movement of autonomous (or semiautonomous) vacuum cleaner, that would be able to work inside of a flat, but not free of obstacles workspaces. In the paper several proposed algorithms of surface covering are discussed. The two algorithms were selected as the most appropriate and presented in this work. Experimental validation of efficiency of the proposed approach were done and the results of the validation are discussed in the paper. Key-Words: Mobile robotics, game theory, multi-robot, semiautonomous systems, vacuum cleaners, surface covering