Abstract
We describe a method for decentralized task/area partitioning for coordination in cleaning domains. Ongoing advances in computer science and robotics lead to robot applications for large areas that require coordinated tasks by multiple robots. We focused on a cleaning task to be performed by multiple robots with potentially different performances and developed a method for partitioning the target area to improve the overall efficiency through their balanced collective efforts. Agents autonomously decide how the task/area is to be partitioned by taking into account the characteristics of the environments. Experiments showed that the proposed method can adaptively partition the area among the agents so that they can keep it clean effectively and evenly.
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Kato, C., Sugawara, T. (2013). Decentralized Area Partitioning for a Cooperative Cleaning Task. In: Boella, G., Elkind, E., Savarimuthu, B.T.R., Dignum, F., Purvis, M.K. (eds) PRIMA 2013: Principles and Practice of Multi-Agent Systems. PRIMA 2013. Lecture Notes in Computer Science(), vol 8291. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-44927-7_36
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DOI: https://doi.org/10.1007/978-3-642-44927-7_36
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-44926-0
Online ISBN: 978-3-642-44927-7
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