Spreading Out: A Local Approach to Multi-robot Coverage

Abstract

Abstract. The problem of coverage without a priori global information about the environment is a key element of the general exploration problem. Applications vary from exploration of the Mars surface to the urban search and rescue (USAR) domain, where neither a map, nor a Global Positioning System (GPS) are available. We propose two algorithms for solving the 2D coverage problem using multiple mobile robots. The basic premise of both algorithms is that local dispersion is a natural way to achieve global coverage. Thus, both algorithms are based on local, mutually dispersive interaction between robots when they are within sensing range of each other. Simulations show that the proposed algorithms solve the problem to within 5-7% of the (manually generated) optimal solutions. We show that the nature of the interaction needed between robots is very simple; indeed anonymous interaction slightly outperforms a more complicated local technique based on ephemeral identification.

Deployment and Connectivity Repair of a Sensor Net with a Flying Robot

“…An overview of hardware and software requirements for sensor networks can be found in [12] which describes the Berkeley Mica Motes. Algorithms for positioning a mobile sensor network includes even dispersal of sensors from a source point and redeployment for network rebuilding [2,13]. Other important contributions include [1,4,10,15,18].…”

On redundancy, efficiency, and robustness in coverage for multiple robots

“…Our coverage algorithms are distributed and robust. Batalin and Sukhatme [2] offer two coverage algorithms by a multi-robot system in which the robots spread out in the terrain, and move away from each other while covering the area and minimizing the interaction between the robots. In their work, they aim to achieve optimal coverage area, and do not prove any formal statement regarding optimality of coverage time.…”

The giving tree: constructing trees for efficient offline and online multi-robot coverage

“…For example, in [3], Batalin and Sukhatme offer two coverage algorithms by a multi-robot system in which the robots spread out in the terrain, and move away from each other while covering the area and minimizing the interaction between the robots. In their work, they aim to achieve optimal coverage area, and do not prove any formal statement regarding optimality of coverage time.…”