Adaptive Multi–Robot Coverage of Curved Surfaces
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Author / Producer
Date
2012
Publication Type
Conference Paper
ETH Bibliography
yes
Citations
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Rights / License
Abstract
This paper presents two adaptive coverage algorithms for the deployment of multiple robots into discrete partitions over curved surfaces. The algorithms compute a metric tensor field locally on the surface in order to shape the robots’ partitions in position, size, orientation and aspect ratio according to the present anisotropy. The coverage algorithms are further incorporated into a hybrid coverage method for the complete coverage of surface areas. Each robot iteratively deploys and adapts the partition, then subsequently sweeps its assigned area. The algorithms are demonstrated in simulations on different mesh models, including meshes reconstructed from real laser point cloud data. © Springer-Verlag
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Publication status
published
External links
Book title
Distributed Autonomous Robotics Systems: The 11th International Symposium
Journal / series
Volume
104
Pages / Article No.
3 - 16
Publisher
Springer
Event
11th International Symposium on Distributed Autonomous Robotic Systems (DARS 2012)
Edition / version
Methods
Software
Geographic location
Date collected
Date created
Subject
MEHRAGENTENSYSTEME (KÜNSTLICHE INTELLIGENZ); ROBOTERNAVIGATION; MULTI-AGENT SYSTEMS (ARTIFICIAL INTELLIGENCE); ROBOT NAVIGATION
Organisational unit
03737 - Siegwart, Roland Y. (emeritus) / Siegwart, Roland Y. (emeritus)