Open AccessA Visibility-Based Algorithm for Multi-Robot Boundary Coverage
Author(s) -
Linan Jiao,
Zhenmin Tang
Publication year - 2008
Publication title -
international journal of advanced robotic systems
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.394
H-Index - 46
eISSN - 1729-8814
pISSN - 1729-8806
DOI - 10.5772/5659
Subject(s) - computer science , robot , visibility , polygon (computer graphics) , visibility graph , boundary (topology) , graph , algorithm , decomposition , context (archaeology) , set (abstract data type) , mobile robot , artificial intelligence , theoretical computer science , mathematics , telecommunications , mathematical analysis , ecology , paleontology , physics , geometry , frame (networking) , regular polygon , optics , biology , programming language
Cell decomposition is often used in autonomous area coverage. We propose a visibility-based decomposition algorithm for single robot boundary coverage and a corresponding multi-robot algorithm in unknown environment. A graph data structure is exploited for completeness of coverage and incremental description of partially observed world. Visibility-based decomposition facilitates the construction of graph and algorithms operated on it. In the context of multi-robot, a dynamically selected highest priority robot is in charge of information share and synchrony through communication, polygon set operations provide tools for environmental information mergence, a distributed algorithm for multi-robot boundary coverage is proposed based on those technologies. Finally the experimental results show the relationships between robot number and traversable gate number, some future subjects of researches are introduced
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