TY - GEN
T1 - The multi-robot coverage problem for optimal coordinated search with an unknown number of robots
AU - Min, Hyeun Jeong
AU - Papanikolopoulos, Nikolaos P
PY - 2011/12/1
Y1 - 2011/12/1
N2 - This work presents a novel multi-robot coverage scheme for an unknown number of robots; it focuses on optimizing the number of robots and each path cost. Coverage problems traditionally deal with how a given number of robots covers the entire environment. This work, however, presents solutions of not only (i) how to cover the area (locations of interest) within the minimum time, but simultaneously (ii) how to find the optimal number of robots for a given time. Also, we consider the worst but realistic case of all robots starting at the same location instead of assuming randomly initialized positions. The minimum coverage time depends upon the number of robots used. Our research specifies (iii) how to find the minimum coverage time without knowing the number of robots. Finally, we present a deterministic coverage algorithm based on finding the shortest paths in order to optimize the number of robots and corresponding paths.
AB - This work presents a novel multi-robot coverage scheme for an unknown number of robots; it focuses on optimizing the number of robots and each path cost. Coverage problems traditionally deal with how a given number of robots covers the entire environment. This work, however, presents solutions of not only (i) how to cover the area (locations of interest) within the minimum time, but simultaneously (ii) how to find the optimal number of robots for a given time. Also, we consider the worst but realistic case of all robots starting at the same location instead of assuming randomly initialized positions. The minimum coverage time depends upon the number of robots used. Our research specifies (iii) how to find the minimum coverage time without knowing the number of robots. Finally, we present a deterministic coverage algorithm based on finding the shortest paths in order to optimize the number of robots and corresponding paths.
UR - http://www.scopus.com/inward/record.url?scp=84871682707&partnerID=8YFLogxK
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U2 - 10.1109/ICRA.2011.5979995
DO - 10.1109/ICRA.2011.5979995
M3 - Conference contribution
AN - SCOPUS:84871682707
SN - 9781612843865
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2866
EP - 2871
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 -