Adaptive Multi–Robot Coverage of Curved Surfaces
dc.contributor.author
Breitenmoser, Andreas
dc.contributor.author
Sommer, Hannes
dc.contributor.author
Siegwart, Roland
dc.contributor.editor
Hsieh, M. Ani
dc.contributor.editor
Chirikjian, Gregory
dc.date.accessioned
2020-07-08T14:01:09Z
dc.date.available
2017-06-11T06:40:57Z
dc.date.available
2017-10-17T09:58:17Z
dc.date.available
2017-11-28T11:22:54Z
dc.date.available
2020-07-08T14:01:09Z
dc.date.issued
2012
dc.identifier.isbn
978-3-642-55145-1
en_US
dc.identifier.isbn
978-3-642-55146-8
en_US
dc.identifier.issn
1610-7438
dc.identifier.other
10.1007/978-3-642-55146-8_1
en_US
dc.identifier.uri
http://hdl.handle.net/20.500.11850/82235
dc.identifier.doi
10.3929/ethz-a-010034947
dc.description.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
en_US
dc.format
application/pdf
en_US
dc.language.iso
en
en_US
dc.publisher
Springer
dc.rights.uri
http://rightsstatements.org/page/InC-NC/1.0/
dc.subject
MEHRAGENTENSYSTEME (KÜNSTLICHE INTELLIGENZ)
en_US
dc.subject
ROBOTERNAVIGATION
en_US
dc.subject
MULTI-AGENT SYSTEMS (ARTIFICIAL INTELLIGENCE)
en_US
dc.subject
ROBOT NAVIGATION
en_US
dc.title
Adaptive Multi–Robot Coverage of Curved Surfaces
en_US
dc.type
Conference Paper
dc.rights.license
In Copyright - Non-Commercial Use Permitted
dc.date.published
2013
ethz.book.title
Distributed Autonomous Robotics Systems: The 11th International Symposium
en_US
ethz.journal.title
Springer Tracts in Advanced Robotics
ethz.journal.volume
104
en_US
ethz.journal.abbreviated
STAR
ethz.pages.start
3
en_US
ethz.pages.end
16
en_US
ethz.size
Online-Ressource
en_US
ethz.version.deposit
acceptedVersion
en_US
ethz.code.ddc
DDC - DDC::6 - Technology, medicine and applied sciences::621.3 - Electric engineering
en_US
ethz.event
11th International Symposium on Distributed Autonomous Robotic Systems (DARS 2012)
en_US
ethz.event.location
Baltimore, MD, USA
en_US
ethz.event.date
November 8-11, 2012
en_US
ethz.identifier.nebis
010215772
ethz.publication.place
Berlin
en_US
ethz.publication.status
published
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::03737 - Siegwart, Roland Y. / Siegwart, Roland Y.
en_US
ethz.leitzahl.certified
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::03737 - Siegwart, Roland Y. / Siegwart, Roland Y.
ethz.date.deposited
2017-06-11T06:42:50Z
ethz.source
ECOL
ethz.source
ECIT
ethz.identifier.importid
imp593651c31a38e15629
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imp59366b4d6170085914
ethz.ecolpid
eth:7795
ethz.ecitpid
pub:129596
ethz.eth
yes
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ethz.availability
Open access
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ethz.rosetta.installDate
2017-07-15T04:43:07Z
ethz.rosetta.lastUpdated
2024-02-02T11:23:22Z
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true
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