Published May 2006
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Multi-robot Boundary Coverage with Plan Revision
- Creators
- Williams, Kjerstin
- Burdick, Joel
Chicago
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Abstract
This paper revisits the multi-robot boundary coverage problem in which a group of k robots must inspect every point on the boundary of a 2-dimensional environment. We focus on the case in which revision of the original inspection plan may be necessary due to changes in the robot team size or the environment. Building upon prior work, which presented a graph-based approach to path planning for this problem, we present a graph representation of the task that is greatly reduced in complexity and a path revision algorithm appropriate for addressing such changes.
Additional Information
© 2006 IEEE. Issue Date: 15-19 May 2006, Date of Current Version: 26 June 2006. The authors would like thank Elon Rimon for valuable discussions regarding graph-based approaches to multi-robot coverage.Attached Files
Published - Williams2006p95122008_Ieee_International_Conference_On_Robotics_And_Automation_Vols_1-9.pdf
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Williams2006p95122008_Ieee_International_Conference_On_Robotics_And_Automation_Vols_1-9.pdf
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Additional details
- Eprint ID
- 22373
- Resolver ID
- CaltechAUTHORS:20110218-091849263
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2011-02-18Created from EPrint's datestamp field
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2021-11-09Created from EPrint's last_modified field