Robotic Adversarial Coverage: From Theory to Practice
نویسندگان
چکیده
This work implements and simulates the problem known as adversarial coverage. In this problem, a robot is required to visit every point in a target area, which contains hazards or threats that might stop the robot. The objective of the robot is to cover the target area as quickly as possible, while maximizing the probability of completing the coverage before it is stopped. Previous studies of this problem have assumed a simple, unrealistic model of the robot and the environment. In this paper we show how adversarial coverage can be executed on a realistic robotic platform, and we evaluate its performance on large-scaled realistic environments. We also show how the coverage algorithm can be modified in order to significantly reduce the number of turns the robot makes along the coverage path, hence allowing the coverage to complete much faster. Our implementation is based on the standard robotic platforms ROS and Stage.
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