Abstract
In this paper we present an algorithmic solution for the distributed, complete coverage, path planning problem. Real world applications such as lawn mowing, chemical spill clean-up, and humanitarian de-mining can be automated by the employment of a team of autonomous mobile robots. Our approach builds on a single robot coverage algorithm. A greedy auction algorithm (a market based mechanism) is used for task reallocation among the robots. The robots are initially distributed through space and each robot is allocated a virtually bounded area to cover. Communication between the robots is available without any restrictions.
Work done while at Carnegie Mellon University.
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Rekleitis, I., New, A.P., Choset, H. (2005). Distributed Coverage of Unknown/Unstructured Environments by Mobile Sensor Networks. In: Parker, L.E., Schneider, F.E., Schultz, A.C. (eds) Multi-Robot Systems. From Swarms to Intelligent Automata Volume III. Springer, Dordrecht. https://doi.org/10.1007/1-4020-3389-3_12
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DOI: https://doi.org/10.1007/1-4020-3389-3_12
Publisher Name: Springer, Dordrecht
Print ISBN: 978-1-4020-3388-9
Online ISBN: 978-1-4020-3389-6
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