A Multi-robot System for Continuous Area Sweeping Tasks

13 years 10 months ago

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— As mobile robots become increasingly autonomous over extended periods of time, opportunities arise for their use on repetitive tasks. We deﬁne and implement behaviors for a class of such tasks that we call continuous area sweeping tasks. A continuous area sweeping task is one in which a group of robots must repeatedly visit all points in a ﬁxed area, possibly with nonuniform frequency, as speciﬁed by a task-dependent cost function. Examples of problems that need continuous area sweeping are trash removal in a large building and routine surveillance. In our previous work we have introduced a single-robot approach to this problem. In this paper, we extend that approach to multi-robot scenarios. The focus of this paper is adaptive and decentralized task assignment in continuous area sweeping problems, with the aim of ensuring stability in environments with dynamic factors, such as robot malfunctions or the addition of new robots to the team. Our proposed negotiation-based approa...

Mazda Ahmadi, Peter Stone

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