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.
[45 citations]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{RekleitisMRS2005,
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}
}
Fri Mar 29 06:21:03 EDT 2024