Distributed Coverage of Unknown/Unstructured Environments by Mobile Sensor Networks

Ioannis Rekleitis, Ai Peng New, Howie Choset
In 3rd International NRL Workshop on Multi-Robot Systems 2005. [34 citations]

Abstract

Abstract: In this paper we present an algorithmic solution for the distributed, complete coverage, path planning problem. Real world applications such as lawn mowing, chemical spill clean-up, and humanitarian de-mining can be automated by the employment of a team of autonomous mobile robots. Our approach builds on a single robot coverage algorithm. A greedy auction algorithm (a market based mechanism) is used for task reallocation among the robots. The robots are initially distributed through space and each robot is allocated a virtually bounded area to cover. Communication between the robots is available without any restrictions.

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BibTeX

@inproceedings{Rekleitis2005a,
  author       = {Ioannis Rekleitis and Ai Peng New and Howie Choset},
  title        = {Distributed Coverage of Unknown/Unstructured Environments
		 by Mobile Sensor Networks},
  booktitle    = {3rd International NRL Workshop on Multi-Robot Systems},
  pages        = {pages 145--155},
  year	       = {2005},
  editor       = {Alan C. Schultz and Lynne E. Parker and Frank Schneider},
  address      = {Washington, DC, USA},
  month        = {Mar.},
  publisher    = {Kluwer}
}

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Mon Sep 16 06:21:02 EDT 2019