This article examines the problems of multi-robot coverage and persistent monitoring of regions of interest with limited sensing robots. A group of robots, each equipped with only contact sensors and a clock, execute a simple trajectory by repeatedly moving straight and then bouncing at perimeter boundaries by rotating in place. We introduce an approach by finding a joint trajectory for multiple robots to cover a given environment and generating cycles for the robots to persistently monitor the target regions in the environment. From a given initial configuration, our approach iteratively finds the joint trajectory of all the robots that covers the entire environment. Our approach also computes periodic trajectories of all the robots for monitoring of some regions, where trajectories overlap but do not involve robot-robot collisions. We present experimental results from multiple simulations and physical experiments demonstrating the practical utility of our approach.
Trishal Upazila has been floristically explored to make an inventory, identify and document the angiosperm flora. A total of 209 species under 171 genera and 69 families have been identified. Magnoliopsida (Dicots) is represented by 163 species distributed in 133 genera and 54 families, and Liliopsida (Monocots) is constituted by 46 species under 38 genera and 15 families. In Magnoliopsida Asteraceae with 12 species and in Liliopsida Poaceae with 11 species is found as the largest family. The genus Ficus and the genus Fimbristylis stand the first position, respectively in dicots and monocots. Herbs are represented by 124 species, shrubs by 36 species and trees by 49 species.
Dhaka Univ. J. Biol. Sci. 22(1): 63-74, 2013 (January)
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