Cooperative Coverage of Rectilinear Environments
Abstract
A distributed cooperative coverage algorithm DC/sub R/ is presented, which is derived from an earlier complete single-robot algorithm, CC/sub R/. DC/sub R/ executes independently on each robot in a team where the individual robots do not know the initial locations of their peers and applies to systems of robots operating in a rectilinear environment that use only intrinsic contact sensing to determine the boundaries of the environment. Due to the reactive nature of CC/sub R/, the natural extension to DC/sub R/ preserves the completeness properties of the single-robot algorithm, and the outline of a completeness proof of DC/sub R/ is also presented. DC/sub R/ has been implemented in simulation, and directions for future work are presented which will make the algorithm more suited to physical robot systems.
BibTeX
@conference{Butler-2000-8017,author = {Zack Butler and Alfred Rizzi and Ralph Hollis},
title = {Cooperative Coverage of Rectilinear Environments},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {2000},
month = {April},
volume = {3},
pages = {2722 - 2727},
}