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Authors: Zachary Wilson ; Taylor Whipple and Prithviraj Dasgupta

Affiliation: University of Nebraska, United States

Keyword(s): Multi-robot coverage, Exploration, Information compression.

Related Ontology Subjects/Areas/Topics: Autonomous Agents ; Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Network Robotics ; Robotics and Automation

Abstract: We consider the problem of distributed terrain or area coverage of an initially unknown environment using a set of mobile robots. We describe a distributed algorithm that is able to solve the distributed coverage problem without having each robot exchange its complete coverage map with other robots. The central part of our technique is a compression algorithm used by a robot to approximate the regions that have been previously covered and a fitness function that calculates the degree of accuracy of the approximated coverage information. The operation of our coverage algorithm is evaluated through experiments on simulated as well as physical Corobot robots. We have quantified the extent of overhead introduced by our coverage algorithm to prevent robots from performing repeated coverage. Overall, our results show that the robots are able to cover the environment within different environment settings while significantly reducing the amount of coverage information communicated between di fferent robots. (More)

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Paper citation in several formats:
Wilson, Z.; Whipple, T. and Dasgupta, P. (2011). MULTI-ROBOT COVERAGE WITH DYNAMIC COVERAGE INFORMATION COMPRESSION. In Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-8425-75-1; ISSN 2184-2809, SciTePress, pages 236-241. DOI: 10.5220/0003538202360241

@conference{icinco11,
author={Zachary Wilson. and Taylor Whipple. and Prithviraj Dasgupta.},
title={MULTI-ROBOT COVERAGE WITH DYNAMIC COVERAGE INFORMATION COMPRESSION},
booktitle={Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2011},
pages={236-241},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003538202360241},
isbn={978-989-8425-75-1},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - MULTI-ROBOT COVERAGE WITH DYNAMIC COVERAGE INFORMATION COMPRESSION
SN - 978-989-8425-75-1
IS - 2184-2809
AU - Wilson, Z.
AU - Whipple, T.
AU - Dasgupta, P.
PY - 2011
SP - 236
EP - 241
DO - 10.5220/0003538202360241
PB - SciTePress

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