Limited Communication, Multi-Robot Team Based Coverage

Ioannis Rekleitis, Vincent Lee-Shue, Ai Peng New, Howie Choset
In IEEE International Conference on Robotics and Automation (ICRA) 2004. [236 citations]


Abstract: This paper presents an algorithm for the complete coverage of free space by a team of mobile robots. Our approach is based on a single robot coverage algorithm, which divides the target two-dimensional space into regions called cells, each of which can be covered with simple back-and-forth motions; the decomposition of free space in a collection of such cells is known as the Boustrophedon decomposition. Single robot coverage is achieved by ensuring that the robot visits every cell. The new multi-robot coverage algorithm uses the same planar cell-based decomposition as the single robot approach, but provides extensions to handle how teams of robots cover a single cell and how teams are allocated among cells. This method allows planning to occur in a two-dimensional configuration space for a team of $N$ robots. The robots operate under the restriction that communication between two robots is available only when they are within line of sight of each other.



  author       = {Ioannis Rekleitis and Vincent Lee-Shue and Ai Peng New
		 and Howie Choset},
  title        = {Limited Communication, Multi-Robot Team Based Coverage},
  booktitle    = {IEEE International Conference on Robotics and Automation
  pages        = {3462-3468},
  year	       = {2004},
  address      = {New Orleans, LA, USA},
  month        = {Apr.}

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