Easton, Kjerstin and Burdick, Joel W. (2005) A Coverage Algorithm for Multi-robot Boundary Inspection. In: 2005 IEEE International Conference on Robotics and Automation (ICRA). IEEE International Conference on Robotics and Automation. IEEE , Piscataway, NJ, pp. 727-734. ISBN 0-7803-8914-X http://resolver.caltech.edu/CaltechAUTHORS:20110725-155321248
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This paper introduces the multi-robot boundary coverage problem, wherein a group of k robots must inspect every point on the boundary of a 2-dimensional test environment. Using a simplified sensor model, this inspection problem is converted to an equivalent graph representation. In this representation, the coverage problem can be posed as the k- Rural Postman Problem (kRPP). We present a constructive heuristic which finds a solution to the kRPP, then use that solution to plan the robots’ inspection routes. These routes provide complete coverage of the boundary and also balance the inspection load across the k robots. Simulations illustrate the algorithm’s performance and characteristics.
|Item Type:||Book Section|
|Additional Information:||© 2005 IEEE. Issue Date: 18-22 April 2005. Date of Current Version: 10 January 2006. This work has been supported by a National Science Foundation fellowship, a grant from NASA Glenn, and by NSF grants NSF-0428075 and NSF-0325017. The authors would like thank Elon Rimon and Eric Klavins for valuable discussions regarding graph-based approaches to multi-robot coverage and Howie Choset for the use of his planar GVG construction software, which was the basis for the graph construction step in our simulations.|
|Subject Keywords:||robot coverage; multiple robots; planning algorithms|
|Official Citation:||Easton, K.; Burdick, J.; , "A Coverage Algorithm for Multi-robot Boundary Inspection," Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on , vol., no., pp. 727- 734, 18-22 April 2005 doi: 10.1109/ROBOT.2005.1570204 URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=1570204&isnumber=33250|
|Usage Policy:||No commercial reproduction, distribution, display or performance rights in this work are provided.|
|Deposited By:||Tony Diaz|
|Deposited On:||27 Jul 2011 23:16|
|Last Modified:||27 Jul 2011 23:16|
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