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Proceedings Paper

Toward sensor-based coverage with robot teams
Author(s): DeWitt T. Latimer; Siddhartha Srinivasa; Vincent Lee-Shue; Samuel Sonne; Howie M. Choset; Aaron P. Hurst
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Paper Abstract

We introduce a new algorithm to cover an unknown space with a homogenous team of circular mobile robots. Our approach uses a previous single robot coverage algorithm that divides the target space into cells, each of which can be covered with simple back and forth motions. The advantage of our method is that we plan in a two dimensional configuration space for a team of n robots, bypassing the 2n dimensional configuration space. The approach used is semi-decentralized - robot teams cover the space independent of each other, but, robots within a team communicate state and share information. An implementation of the algorithm, in simulation, is also detailed.

Paper Details

Date Published: 18 February 2002
PDF: 9 pages
Proc. SPIE 4573, Mobile Robots XVI, (18 February 2002); doi: 10.1117/12.457455
Show Author Affiliations
DeWitt T. Latimer, Carnegie Mellon Univ. (United States)
Siddhartha Srinivasa, Carnegie Mellon Univ. (United States)
Vincent Lee-Shue, Carnegie Mellon Univ. (United States)
Samuel Sonne, Carnegie Mellon Univ. (United States)
Howie M. Choset, Carnegie Mellon Univ. (United States)
Aaron P. Hurst, Carnegie Mellon Univ. (United States)


Published in SPIE Proceedings Vol. 4573:
Mobile Robots XVI
Douglas W. Gage; Howie M. Choset, Editor(s)

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