Pseudo Spanning Tree-based Complete and Competitive Robot Coverage using Virtual Nodes

Ranjitha, T. D.; Guruprasad, K. R.

doi:10.1016/j.ifacol.2016.03.052

Cited by 13 publications

(10 citation statements)

References 8 publications

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“…[20,24]) or a spiral motion (such as in refs. [24][25][26][27]) only in two (preferably perpendicular) directions in the interior of Q. These restrictions are relaxed around the walls and obstacle boundary, where a wall following path may be used to provide a complete coverage.…”

Section: Problem Settingmentioning

confidence: 99%

“…These restrictions are relaxed around the walls and obstacle boundary, where a wall following path may be used to provide a complete coverage. [20][21][22][23][24][25][26][27] Note also that the Manhattan distance concept that is used in this work is defined only for a 4-neighbor scenario and cannot be used for a 8-neighbor scenario.…”

Section: Problem Settingmentioning

confidence: 99%

“…A complete coverage of a region can be achieved even when the region is not 'coverage conducive,' by using algorithms which attempt to provide complete coverage at the cost of unavoidable overlap such as refs. [24][25][26][27]. Even with these single-robot algorithms, the proposed GM-VPC strategy completely eliminates coverage overlap around the partition boundary.…”

Section: Experiments Using Fire Bird V Robotsmentioning

confidence: 99%

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GM-VPC: An Algorithm for Multi-robot Coverage of Known Spaces Using Generalized Voronoi Partition

Nair¹,

Guruprasad

2019

Robotica

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SUMMARYIn this paper we address the problem of coverage path planning (CPP) for multiple cooperating mobile robots. We use a ‘partition and cover’ approach using Voronoi partition to achieve natural passive cooperation between robots to avoid task duplicity. We combine two generalizations of Voronoi partition, namely geodesic-distance-based Voronoi partition and Manhattan-distance-based Voronoi partition, to address contiguity of partition in the presence of obstacles and to avoid partition-boundary-induced coverage gap. The region is divided into 2D×2D grids, where D is the size of the robot footprint. Individual robots can use any of the single-robot CPP algorithms. We show that with the proposed Geodesic-Manhattan Voronoi-partition-based coverage (GM-VPC), a complete and non-overlapping coverage can be achieved at grid level provided that the underlying single-robot CPP algorithm has similar property.We demonstrated using two representative single-robot coverage strategies, namely Boustrophedon-decomposition-based coverage and Spanning Tree coverage, first based on so-called exact cellular decomposition and second based on approximate cellular decomposition, that the proposed partitioning scheme completely eliminates coverage gaps and coverage overlaps. Simulation experiments using Matlab and V-rep robot simulator and experiments with Fire Bird V mobile robot are carried out to validate the proposed coverage strategy.

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Section: Problem Settingmentioning

confidence: 99%

Section: Problem Settingmentioning

confidence: 99%

Section: Experiments Using Fire Bird V Robotsmentioning

confidence: 99%

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GM-VPC: An Algorithm for Multi-robot Coverage of Known Spaces Using Generalized Voronoi Partition

Nair¹,

Guruprasad

2019

Robotica

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“…At present, there is no research on the path planning of impact roller in high-embankment airport at home and abroad. The existed research mainly focuses on the path planning of robots and drones (Edwards et al 2017, Ranjitha et al 2016, Torres et al2016. However, because the structure of the impact roller is very different from that of the robot and the drone, the path planning algorithm for the impact roller is different from the former two.…”

Section: Introductionmentioning

confidence: 99%

Algorithm for optimal path planning of impact roller in high-embankment airport

Xing

Luo

Song

et al. 2020

JGS Special Publication

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With the continuous increase of high-embankment construction projects in China's airports, impact roller has become more and more widely used. And the construction technology with automatic driving, path planning and adaptive operation has become the development direction in high-embankment airport. Combined with advanced information technology such as Beidou positioning navigation system, the Internet and cloud computing, this paper proposes an algorithm for optimal path planning of impact roller to meet the need. The algorithm includes three aspects: working surface rasterization, full coverage path generation and optimal path planning. Based on the structure of the impact roller, the algorithm adopts the method of non-overlapping wheel tracks to plan the path which covers the entire working surface, and could get the optimal path by analyzing the compaction quality during the construction process. Through field test, it is proved that the proposed algorithm has certain feasibility and effectiveness in guiding impact roller to work. The impact roller can not only ensure the compaction quality, but also improve work efficiency by following the path generated by the algorithm.

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“…Votion and Cao first develop three improved A-star algorithms to obtain the optimal path, and then they present a new spatially diverse path planning algorithm based on the A-star variants to address the need for path diversity in multi-agent path planning [15]. Spanning tree coverage [16] is developed for multi-robot area patrolling [17] and surveillance [18], but ignores the sub-regions with different importance. Market-based mechanisms have also been used to assign work to robots, but their applications have been limited [8].…”

Section: Introductionmentioning

confidence: 99%

A Novel Cooperative Path Planning for Multi-robot Persistent Coverage with Obstacles and Coverage Period Constraints

Sun

Zhou

Di³

et al. 2019

Sensors

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In this paper, a multi-robot persistent coverage of the region of interest is considered, where persistent coverage and cooperative coverage are addressed simultaneously. Previous works have mainly concentrated on the paths that allow for repeated coverage, but ignored the coverage period requirements of each sub-region. In contrast, this paper presents a combinatorial approach for path planning, which aims to cover mission domains with different task periods while guaranteeing both obstacle avoidance and minimizing the number of robots used. The algorithm first deploys the sensors in the region to satisfy coverage requirements with minimum cost. Then it solves the travelling salesman problem to obtain the frame of the closed path. Finally, the approach partitions the closed path into the fewest segments under the coverage period constraints, and it generates the closed route for each robot on the basis of portioned segments of the closed path. Therefore, each robot can circumnavigate one closed route to cover the different task areas completely and persistently. The numerical simulations show that the proposed approach is feasible to implement the cooperative coverage in consideration of obstacles and coverage period constraints, and the number of robots used is also minimized.

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Pseudo Spanning Tree-based Complete and Competitive Robot Coverage using Virtual Nodes

Cited by 13 publications

References 8 publications

GM-VPC: An Algorithm for Multi-robot Coverage of Known Spaces Using Generalized Voronoi Partition

GM-VPC: An Algorithm for Multi-robot Coverage of Known Spaces Using Generalized Voronoi Partition

Algorithm for optimal path planning of impact roller in high-embankment airport

A Novel Cooperative Path Planning for Multi-robot Persistent Coverage with Obstacles and Coverage Period Constraints

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