A Caltech Library Service

Multi-robot Boundary Coverage with Plan Revision

Williams, Kjerstin and Burdick, Joel (2006) Multi-robot Boundary Coverage with Plan Revision. In: Proceedings 2006 IEEE International Conference on Robotics and Automation. IEEE , Piscataway, NJ, pp. 1716-1723. ISBN 0-7803-9505-0.

PDF - Published Version
See Usage Policy.


Use this Persistent URL to link to this item:


This paper revisits the multi-robot boundary coverage problem in which a group of k robots must inspect every point on the boundary of a 2-dimensional environment. We focus on the case in which revision of the original inspection plan may be necessary due to changes in the robot team size or the environment. Building upon prior work, which presented a graph-based approach to path planning for this problem, we present a graph representation of the task that is greatly reduced in complexity and a path revision algorithm appropriate for addressing such changes.

Item Type:Book Section
Related URLs:
URLURL TypeDescription DOIArticle
Additional Information:© 2006 IEEE. Issue Date: 15-19 May 2006, Date of Current Version: 26 June 2006. The authors would like thank Elon Rimon for valuable discussions regarding graph-based approaches to multi-robot coverage.
Record Number:CaltechAUTHORS:20110218-091849263
Persistent URL:
Official Citation:Williams, K.; Burdick, J.; , "Multi-robot boundary coverage with plan revision," Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on , vol., no., pp.1716-1723, 15-19 May 2006 doi: 10.1109/ROBOT.2006.1641954 URL:
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:22373
Deposited By: Benjamin Perez
Deposited On:18 Feb 2011 18:27
Last Modified:09 Nov 2021 16:04

Repository Staff Only: item control page