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Robust and Efficient Multi-Robot Coverage

Noam Hazon. Robust and Efficient Multi-Robot Coverage. Master's Thesis, Bar Ilan University,2005.

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Abstract

Area coverage is an important task for mobile robots, with manyreal-world applications. Motivated by potential efficiency androbustness improvements, there is growing interest in the use ofmultiple robots in coverage. Previous investigations ofmulti-robot coverage algorithms focused on the improved efficiencygained from the use of multiple robots, but did not formallyaddressed the potential for greater robustness. We addressrobustness and efficiency in a family of multi-robot coveragealgorithms, based on spanning-tree coverage of approximate celldecomposition. We present off-line and on-line algorithms andanalytically show that the algorithms are complete and robust, inthat as long as a single robot is able to move, the coverage willbe completed. We analyze the assumptions underlying the algorithmsrequirements and present a number of techniques for executing itin real robots. We show extensive empirical coverage-time resultsof running the algorithms in a number of different environmentsand several group sizes.

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BibTeX

@MastersThesis{noam-msc, 
  author = {Noam Hazon}, 
  title = {Robust and Efficient Multi-Robot Coverage}, 
  school = 	 {{B}ar {I}lan {U}niversity}, 
  year = 	 {2005}, 
  OPTkey = 	 {}, 
  OPTtype = 	 {}, 
  OPTaddress = 	 {}, 
  OPTmonth = 	 {}, 
  OPTnote = 	 {}, 
   abstract = {
Area coverage is an important task for mobile robots, with many
real-world applications. Motivated by potential efficiency and
robustness improvements, there is growing interest in the use of
multiple robots in coverage. Previous investigations of
multi-robot coverage algorithms focused on the improved efficiency
gained from the use of multiple robots, but did not formally
addressed the potential for greater robustness. We address
robustness and efficiency in a family of multi-robot coverage
algorithms, based on spanning-tree coverage of approximate cell
decomposition. We present off-line and on-line algorithms and
analytically show that the algorithms are complete and robust, in
that as long as a single robot is able to move, the coverage will
be completed. We analyze the assumptions underlying the algorithms
requirements and present a number of techniques for executing it
in real robots. We show extensive empirical coverage-time results
of running the algorithms in a number of different environments
and several group sizes.
  }, 
  wwwnote = {}, 
 OPTannote = 	 {} 
} 

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