Abstract
In this chapter, we present a novel algorithm for robotic uniform coverage of a region. Surveillance and mine detection are some applications that would benefit from this type of algorithm. Our algorithm enables robots to uniformly cover regions of all shapes, including non-convex regions, such that the robot movements are not predictable and the region periphery is not neglected. The algorithm assumes that robots are independent and is physics-based, relying on an analogy with mean free paths of particles. The Kullback–Leibler divergence metric confirms that our algorithm is very close to achieving optimal uniform coverage. Validation of the algorithm is rigorously provided via simulation and experiments performed with our Maxelbot robot platforms.
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© 2011 Springer-Verlag Berlin Heidelberg
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Maxim, P.M. (2011). Uniform Coverage. In: Spears, W., Spears, D. (eds) Physicomimetics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-22804-9_11
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DOI: https://doi.org/10.1007/978-3-642-22804-9_11
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-22803-2
Online ISBN: 978-3-642-22804-9
eBook Packages: Computer ScienceComputer Science (R0)