Cooperative Coverage of Rectilinear Environments
نویسندگان
چکیده
A distributed cooperative coverage algorithm DCR is presented which is derived from an earlier complete single-robot algorithm, CCR. DCR 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 CCR, the natural extension to DCR preserves the completeness properties of the single-robot algorithm and the outline of a completeness proof of DCR is also presented. DCR has been implemented in simulation, and directions for future work are presented which will make the algorithm more suited to physical robot systems.
منابع مشابه
Complete Distributed Coverage of Rectilinear Environments
Complete coverage of an unknown environment is a valuable skill for a variety of robot tasks such as oor cleaning and mine detection. Additionally, for a team of robots, the ability to cooperatively perform such a task can signi cantly improve their eÆciency. This paper presents a complete algorithm DCR (distributed coverage of rectilinear environments) which gives robots this ability. DCR is a...
متن کاملContact sensor-based Coverage of Rectilinear Environments
A variety of mobile robotics tasks require complete coverage of an initially unknown environment, either as the entire task or as a way to generate a complete map for use in further missions. This is a problem known as sensor-based coverage, in which the robot's sensing is used to plan a path that reaches every point in the environment. Sensor-based coverage algorithms have been developed previ...
متن کاملSimulation and Experimental Evaluation of Complete Sensor-Based Coverage in Rectilinear Environments
Although sensor-based coverage is a skill which is applicable to a variety of robot tasks, its implementation has so far been limited, mostly by the physical limitations of traditional mobile robots. This paper presents sensor-based coverage algorithms both for a single robot and for a team of independent robots which have been designed to allow for easy integration on to real robots. The speci...
متن کاملCCR: A Complete Algorithm for Contact-Sensor Based Coverage of Rectilinear Environments
Sensor-based coverage is a powerful tool for robots to use to discover their environment, especially in cases when complete knowledge of the environment is required. Current methods have demonstrated the ability to cover virtually arbitrary planar areas but require a remote sensor of nite range, such as sonar. The work presented here handles the case of robots that use only contact sensing to d...
متن کامل