English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

Line coverage is to cover linear infrastructure modeled as 1D segments byrobots, which received attention in recent years. With the increasingurbanization, the area of the city and the density of infrastructure continuesto increase, which brings two issues: (1) Due to the energy constraint, it ishard for the homogeneous robot team to cover the large-scale linearinfrastructure starting from one depot; (2) In the large urban scene, theimbalance of robots' path greatly extends the time cost of the multi-robotsystem, which is more serious than that in smaller-size scenes. To addressthese issues, we propose a heterogeneous multi-robot approach consisting ofseveral teams, each of which contains one transportation robot (TRob) andseveral coverage robots (CRobs). Firstly, a balanced graph partitioning (BGP)algorithm is proposed to divide the road network into several similar-sizesub-graphs, and then the TRob delivers a group of CRobs to the subgraph regionquickly. Secondly, a balanced ulusoy partitioning (BUP) algorithm is proposedto extract similar-length tours for each CRob from the sub-graph. Abundantexperiments are conducted on seven road networks ranging in scales that arecollected in this paper. Our method achieves robot utilization of 90% and thebest maximal tour length at the cost of a small increase in total tour length,which further minimizes the time cost of the whole system. The source code andthe road networks are available athttps://github.com/suhangsong/BLC-LargeScale.

Balanced Line Coverage in Large-scale Urban Scene