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A Coverage Algorithm for Multi-robot Boundary Inspection

10 years 3 months ago
A Coverage Algorithm for Multi-robot Boundary Inspection
— This paper introduces the multi-robot boundary coverage problem, wherein a group of k robots must inspect every point on the boundary of a 2-dimensional test environment. Using a simplified sensor model, this inspection problem is converted to an equivalent graph representation. In this representation, the coverage problem can be posed as the kRural Postman Problem (kRPP). We present a constructive heuristic which finds a solution to the kRPP, then use that solution to plan the robots’ inspection routes. These routes provide complete coverage of the boundary and also balance the inspection load across the k robots. Simulations illustrate the algorithm’s performance and characteristics.
Kjerstin Easton, Joel Burdick
Added 25 Jun 2010
Updated 25 Jun 2010
Type Conference
Year 2005
Where ICRA
Authors Kjerstin Easton, Joel Burdick
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