Multi-robot long-term persistent coverage with fuel constrained robots.
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 1093 - 1099, May, 2015
Abstract
In this paper, we present an algorithm to solve the Multi-Robot Persistent Coverage Problem (MRPCP). Here, we seek to compute a schedule that will allow a fleet of agents to visit all targets of a given set while maximizing the frequency of visitation and maintaining a sufficient fuel capacity by refueling at depots. We also present a heuristic method to allow us to compute bounded suboptimal results in real time. The results produced by our algorithm will allow a team of robots to efficiently cover a given set of targets or tasks persistently over long periods of time, even when the cost to transition between tasks is dynamic.
BibTeX
@conference{Mitchell-2015-5962,author = {Derek Mitchell and Micah Corah and Nilanjan Chakraborty and Katia Sycara and Nathan Michael},
title = {Multi-robot long-term persistent coverage with fuel constrained robots.},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {2015},
month = {May},
pages = {1093 - 1099},
}
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