This paper examines the problem of distributed coverage of an initially unknown environment using a multi-robot system. Specifically, focus is on a coverage technique for coordinating teams of multiple mobile robots that are deployed and maintained in a certain formation while covering the environment. The technique is analyzed theoretically and experimentally to verify its operation and performance within the Webots robot simulator, as well as on physical robots. Experimental results show that the described coverage technique with robot teams moving in formation can perform comparably with a technique where the robots move individually while covering the environment. The authors also quantify the effect of various parameters of the system, such as the size of the robot teams, the presence of localization, and wheel slip noise, as well as environment related features like the size of the environment and the presence of obstacles and walls on the performance of the area coverage operation.
This paper examines the problem of distributed coverage of an initially unknown environment using a multi-robot system. Specifically, focus is on a coverage technique for coordinating teams of multiple mobile robots that are deployed and maintained in a certain formation while covering the environment. The technique is analyzed theoretically and experimentally to verify its operation and performance within the Webots robot simulator, as well as on physical robots. Experimental results show that the described coverage technique with robot teams moving in formation can perform comparably with a technique where the robots move individually while covering the environment. The authors also quantify the effect of various parameters of the system, such as the size of the robot teams, the presence of localization, and wheel slip noise, as well as environment related features like the size of the environment and the presence of obstacles and walls on the performance of the area coverage operation.
We consider the problem of distributed coverage of an initially unknown environment using a multi-robot system. We specifically focus on a coverage technique for coordinating teams of multiple mobile robots that are deployed and maintained in a certain formation while covering the environment. We have analyzed our technique theoretically and experimentally to verify its operation and performance within the Webots robot simulator as well as on physical robots. Our experimental results show that our coverage technique with robot teams moving in formation can perform comparably with a technique where the robots move individually while covering the environment. We also quantify the effect of various parameters of the system such as the size of the robot teams, the presence of localization and wheel slip noise, as well as environment related features like the size of the environment and the presence of obstacles and walls on the performance of the area coverage operation.
We consider the problem of distributed terrain or area coverage of an initially unknown environment using a set of mobile robots. We describe a distributed algorithm that is able to solve the distributed coverage problem without having each robot exchange its complete coverage map with other robots. The central part of our technique is a compression algorithm used by a robot to approximate the regions that have been previously covered and a fitness function that calculates the degree of accuracy of the approximated coverage information. The operation of our coverage algorithm is evaluated through experiments on simulated as well as physical Corobot robots. We have quantified the extent of overhead introduced by our coverage algorithm to prevent robots from performing repeated coverage. Overall, our results show that the robots are able to cover the environment within different environment settings while significantly reducing the amount of coverage information communicated between different robots.
This paper examines the problem of distributed coverage of an initially unknown environment using a multi-robot system. Specifically, focus is on a coverage technique for coordinating teams of multiple mobile robots that are deployed and maintained in a certain formation while covering the environment. The technique is analyzed theoretically and experimentally to verify its operation and performance within the Webots robot simulator, as well as on physical robots. Experimental results show that the described coverage technique with robot teams moving in formation can perform comparably with a technique where the robots move individually while covering the environment. The authors also quantify the effect of various parameters of the system, such as the size of the robot teams, the presence of localization, and wheel slip noise, as well as environment related features like the size of the environment and the presence of obstacles and walls on the performance of the area coverage operation.
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