Robust Online Multi-Robot Simultaneous Exploration and Coverage Path Planning

被引：2

作者：

Nair, Vishnu G. ^{[1
]}

Dileep, M. V. ^{[2
]}

Guruprasad, K. R. ^{[3
]}

机构：

[1] Manipal Acad Higher Educ, Manipal Inst Technol, Dept Aeronaut & Automobile Engn, Udupi 576104, Karnataka, India

[2] Chungnam Natl Univ, Dept Aerosp Engn, Daejeon 34134, South Korea

[3] IIT Kanpur, Dept Mech Engn, Kanpur 208016, Uttar Pradesh, India

来源：

IEEE ACCESS | 2024年 / 12卷

关键词：

Robots; Robot kinematics; Partitioning algorithms; Task analysis; Path planning; Resource management; Heuristic algorithms; Multi-robot systems; Coverage path planning; robot failure; dynamic partition boundaries; Manhattan Voronoi; multi-robot systems; ALLOCATION; EFFICIENT;

D O I：

10.1109/ACCESS.2024.3403658

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, a robust online Multi-robot Simultaneous exploration and coverage path planning problem is presented. The entire workspace is initially partitioned using a variant of Voronoi partitioning, Manhattan Voronoi, and the robots execute simultaneous exploration and coverage using Spanning Tree Coverage algorithm and cover the workspace. Once the robot(s) failure is detected the uncovered portions of the Voronoi cell of the failed robot will be shared between other eligible robots or a replacement strategy,if available, is performed. Simulation experiments within the V-rep environment is used to demonstrate and validate the performance of the proposed algorithm. Though the authors used the Spanning Tree Coverage algorithm for path planning for the purpose of demonstration, any suitable coverage algorithm may be used.

引用

页码：72990 / 73003

页数：14

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