Toward sensor-based coverage with robot teams

DeWitt T. Latimer IV; Siddhartha Srinivasa; Vincent Lee-Shue; Samuel Sonne; Howie M. Choset; Aaron P. Hurst

doi:10.1117/12.457455

18 February 2002 Toward sensor-based coverage with robot teams

DeWitt T. Latimer IV, Siddhartha Srinivasa, Vincent Lee-Shue, Samuel Sonne, Howie M. Choset, Aaron P. Hurst

Proceedings Volume 4573, Mobile Robots XVI; (2002) https://doi.org/10.1117/12.457455
Event: Intelligent Systems and Advanced Manufacturing, 2001, Boston, MA, United States

Abstract

We introduce a new algorithm to cover an unknown space with a homogenous team of circular mobile robots. Our approach uses a previous single robot coverage algorithm that divides the target space into cells, each of which can be covered with simple back and forth motions. The advantage of our method is that we plan in a two dimensional configuration space for a team of n robots, bypassing the 2n dimensional configuration space. The approach used is semi-decentralized - robot teams cover the space independent of each other, but, robots within a team communicate state and share information. An implementation of the algorithm, in simulation, is also detailed.

Citation Download Citation

DeWitt T. Latimer IV, Siddhartha Srinivasa, Vincent Lee-Shue, Samuel Sonne, Howie M. Choset, and Aaron P. Hurst "Toward sensor-based coverage with robot teams", Proc. SPIE 4573, Mobile Robots XVI, (18 February 2002); https://doi.org/10.1117/12.457455

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available