- Conference Paper
Rights / licenseIn Copyright - Non-Commercial Use Permitted
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 Show more
Book titleDistributed Autonomous Robotics Systems: The 11th International Symposium
Journal / seriesSpringer Tracts in Advanced Robotics
Pages / Article No.
PublisherSpringer Berlin Heidelberg
SubjectMEHRAGENTENSYSTEME (KÜNSTLICHE INTELLIGENZ); ROBOTERNAVIGATION; MULTI-AGENT SYSTEMS (ARTIFICIAL INTELLIGENCE); ROBOT NAVIGATION
Organisational unit03737 - Siegwart, Roland Y. / Siegwart, Roland Y.
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