TY - GEN
T1 - Sustainable multi-robot patrol of an open polyline
AU - Jensen, Elizabeth
AU - Franklin, Michael
AU - Lahr, Sara
AU - Gini, Maria L
PY - 2011
Y1 - 2011
N2 - We present an algorithm that maintains coverage of an open polyline patrolled by a team of robots. While previous work has focused on the uniformity of patrolling, we focus on ensuring the longevity of the system in the face of robot failures. A central control tower monitors the battery levels of the robots, and recalls them when they are low on power replacing them with fully charged robots. We compare two methods for replacement, both of which aim to keep coverage interruptions to a minimum. We present results obtained through physical experiments and simulations.
AB - We present an algorithm that maintains coverage of an open polyline patrolled by a team of robots. While previous work has focused on the uniformity of patrolling, we focus on ensuring the longevity of the system in the face of robot failures. A central control tower monitors the battery levels of the robots, and recalls them when they are low on power replacing them with fully charged robots. We compare two methods for replacement, both of which aim to keep coverage interruptions to a minimum. We present results obtained through physical experiments and simulations.
UR - http://www.scopus.com/inward/record.url?scp=84864880904&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84864880904&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2011.5980279
DO - 10.1109/ICRA.2011.5980279
M3 - Conference contribution
AN - SCOPUS:84864880904
SN - 9781612843865
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 4792
EP - 4797
BT - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
T2 - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Y2 - 9 May 2011 through 13 May 2011
ER -