Gal A. Kaminka's Publications

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Coverage Under Dead Reckoning Errors: A Hybrid Approach

Victor Shafran, Gal A. Kaminka, Sarit Kraus, and Alcherio Martinoli. Coverage Under Dead Reckoning Errors: A Hybrid Approach. In Proceedings of the IJCAI 2009 International Workshop on Hybrid Control of Autonomous Systems (HYCAS), 2009.

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Abstract

Coverage is a task, where a robot is to move about a given a target area until every point in it is visited. Many efficient coverage algorithms cannot be used in practice, because they assume accurate movements by the robot; unfortunately, real robots have navigational errors. A standard costly solution is to utilize a robot that continuously localizes, so as to make course corrections. In this work we present \sc Trim Sail, a novel hybrid coverage algorithmthat takes as input an exact-movement coverage algorithm, and a maximal dead-reckoningerror bound. It optimizes use of the exact-movement algorithm, so as to execute its coverageplan while minimizing movement and localization costs. \sc Trim Sail guaranteescomplete coverage, even under dead-reckoning errors. We present several variants of\sc Trim Sail and demonstrate their efficacy in experiments using data collected from real robots.

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BibTeX

@InProceedings{victor09ijcaiws,
  author = 	 {Victor Shafran and Gal A. Kaminka and Sarit Kraus and Alcherio Martinoli}, 
  title = 	 {Coverage Under Dead Reckoning Errors: A Hybrid Approach}, 
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  booktitle = {Proceedings of the {IJCAI} 2009 International Workshop on Hybrid Control of Autonomous Systems ({HYCAS})}, 
  OPTvolume = {},
  OPTpages = 	 {}, 
  year = 	 {2009}, 
  abstract = {Coverage is a task, where a robot is to move about a given a target area until every point in it is visited. Many efficient coverage algorithms cannot be used in practice, because they assume accurate movements by the robot; unfortunately, real robots have navigational errors. A standard costly solution is to utilize a robot that continuously localizes, so as to make course corrections.  
 In this work we present {\sc Trim Sail}, a novel hybrid coverage algorithm
that takes as input an exact-movement coverage algorithm, and a maximal dead-reckoning
error bound.  It optimizes use of the exact-movement algorithm, so as to execute its coverage
plan while minimizing movement and localization costs. {\sc Trim Sail} guarantees
complete coverage, even under dead-reckoning errors. We present several  variants of
{\sc Trim Sail} and demonstrate their efficacy in experiments using data collected from real robots. }, 
  wwwnote = { }, 
  OPTeditor = 	 {}, 
  OPTvolume = 	 {}, 
  OPTnumber = 	 {}, 
  OPTseries = 	 {}, 
  OPTaddress = 	 {}, 
  OPTmonth = 	 {}, 
  OPTorganization = {}, 
  OPTpublisher = {}, 
  OPTacceptance = {}, 
  OPTannote = 	 {} 
} 

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