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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.
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.
@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 = {},
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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. },
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OPTseries = {},
OPTaddress = {},
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OPTpublisher = {},
OPTacceptance = {},
OPTannote = {}
}
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