Multi-robot Dubins Coverage with Autonomous Surface Vehicles

Nare Karapetyan, Jason Moulton, Jeremy Lewis, Alberto Quattrini Li, Jason O'Kane, Ioannis Rekleitis
In IEEE International Conference on Robotics and Automation 2018.

Abstract

Abstract:In large scale coverage operations, such as marine exploration or aerial monitoring, single robot approaches are not ideal, as they may take too long to cover a large area. In such scenarios, multi-robot approaches are preferable. Furthermore, several real world vehicles are non-holonomic, but can be modeled using Dubins vehicle kinematics. This paper focuses on environmental monitoring of aquatic environments using Autonomous Surface Vehicles (ASVs). In particular, we propose a novel approach for solving the problem of complete coverage of a known environment by a multi-robot team consisting of Dubins vehicles. It is worth noting that both multi-robot coverage and Dubins vehicle coverage are NP-complete problems. As such, we present two heuristics methods based on a variant of the traveling salesman problem—k-TSP—formulation and clustering algorithms that efficiently solve the problem. The proposed methods are tested both in simulations to assess their scalability and with a team of ASVs operating on a 200 km2 lake to ensure their applicability in real world.

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BibTeX

@inproceedings{RekleitisICRA2018c,
  author       = {Nare Karapetyan and Jason Moulton and Jeremy Lewis and
		 Alberto Quattrini Li and Jason O'Kane and Ioannis
		 Rekleitis},
  title        = {{Multi-robot Dubins Coverage with Autonomous Surface
		 Vehicles}},
  booktitle    = {IEEE International Conference on Robotics and Automation},
  year	       = {2018},
  pages        = {2373--2379},
  month        = {May},
  address      = {Brisbane, Australia}
}

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Tue Oct 23 06:21:01 EDT 2018