Coverage path planning using mobile robot team formations

Research output: Chapter in Book/Report/Conference proceedingChapter

1 Citation (Scopus)

Abstract

The multi-robot coverage path-planning problem involves finding collision-free paths for a set of robots so that they can completely cover the surface of an environment. This problem is non-trivial as the geometry and location of obstacles in the environment is usually not known a priori by the robots, and they have to adapt their coverage path as they discover obstacles while moving in the environment. Additionally, the robots have to avoid repeated coverage of the same region by each other to reduce the coverage time and energy expended. This chapter discusses the research results in developing multi-robot coverage path planning techniques using mini-robots that are coordinated to move in formation. The authors present theoretical and experimental results of the proposed approach using e-puck mini-robots. Finally, they discuss some preliminary results to lay the foundation of future research for improved coverage path planning using coalition game-based, structured, robot team reconfiguration techniques.

Original languageEnglish (US)
Title of host publicationEmerging Research on Swarm Intelligence and Algorithm Optimization
PublisherIGI Global
Pages214-247
Number of pages34
ISBN (Electronic)9781466663299
ISBN (Print)1466663286, 9781466663282
DOIs
StatePublished - Jul 31 2014

Fingerprint

Path Planning
Motion planning
Mobile Robot
Mobile robots
Coverage
Robot
Robots
Multi-robot
Path
Coalitions
Reconfiguration
Collision
Cover
Game
Experimental Results
Energy
Geometry

ASJC Scopus subject areas

  • Computer Science(all)
  • Mathematics(all)

Cite this

Dasgupta, P. (2014). Coverage path planning using mobile robot team formations. In Emerging Research on Swarm Intelligence and Algorithm Optimization (pp. 214-247). IGI Global. https://doi.org/10.4018/978-1-4666-6328-2.ch010

Coverage path planning using mobile robot team formations. / Dasgupta, Prithviraj.

Emerging Research on Swarm Intelligence and Algorithm Optimization. IGI Global, 2014. p. 214-247.

Research output: Chapter in Book/Report/Conference proceedingChapter

Dasgupta, P 2014, Coverage path planning using mobile robot team formations. in Emerging Research on Swarm Intelligence and Algorithm Optimization. IGI Global, pp. 214-247. https://doi.org/10.4018/978-1-4666-6328-2.ch010
Dasgupta P. Coverage path planning using mobile robot team formations. In Emerging Research on Swarm Intelligence and Algorithm Optimization. IGI Global. 2014. p. 214-247 https://doi.org/10.4018/978-1-4666-6328-2.ch010
Dasgupta, Prithviraj. / Coverage path planning using mobile robot team formations. Emerging Research on Swarm Intelligence and Algorithm Optimization. IGI Global, 2014. pp. 214-247
@inbook{478762b5eb7340cda6b8307fe5990496,
title = "Coverage path planning using mobile robot team formations",
abstract = "The multi-robot coverage path-planning problem involves finding collision-free paths for a set of robots so that they can completely cover the surface of an environment. This problem is non-trivial as the geometry and location of obstacles in the environment is usually not known a priori by the robots, and they have to adapt their coverage path as they discover obstacles while moving in the environment. Additionally, the robots have to avoid repeated coverage of the same region by each other to reduce the coverage time and energy expended. This chapter discusses the research results in developing multi-robot coverage path planning techniques using mini-robots that are coordinated to move in formation. The authors present theoretical and experimental results of the proposed approach using e-puck mini-robots. Finally, they discuss some preliminary results to lay the foundation of future research for improved coverage path planning using coalition game-based, structured, robot team reconfiguration techniques.",
author = "Prithviraj Dasgupta",
year = "2014",
month = "7",
day = "31",
doi = "10.4018/978-1-4666-6328-2.ch010",
language = "English (US)",
isbn = "1466663286",
pages = "214--247",
booktitle = "Emerging Research on Swarm Intelligence and Algorithm Optimization",
publisher = "IGI Global",

}

TY - CHAP

T1 - Coverage path planning using mobile robot team formations

AU - Dasgupta, Prithviraj

PY - 2014/7/31

Y1 - 2014/7/31

N2 - The multi-robot coverage path-planning problem involves finding collision-free paths for a set of robots so that they can completely cover the surface of an environment. This problem is non-trivial as the geometry and location of obstacles in the environment is usually not known a priori by the robots, and they have to adapt their coverage path as they discover obstacles while moving in the environment. Additionally, the robots have to avoid repeated coverage of the same region by each other to reduce the coverage time and energy expended. This chapter discusses the research results in developing multi-robot coverage path planning techniques using mini-robots that are coordinated to move in formation. The authors present theoretical and experimental results of the proposed approach using e-puck mini-robots. Finally, they discuss some preliminary results to lay the foundation of future research for improved coverage path planning using coalition game-based, structured, robot team reconfiguration techniques.

AB - The multi-robot coverage path-planning problem involves finding collision-free paths for a set of robots so that they can completely cover the surface of an environment. This problem is non-trivial as the geometry and location of obstacles in the environment is usually not known a priori by the robots, and they have to adapt their coverage path as they discover obstacles while moving in the environment. Additionally, the robots have to avoid repeated coverage of the same region by each other to reduce the coverage time and energy expended. This chapter discusses the research results in developing multi-robot coverage path planning techniques using mini-robots that are coordinated to move in formation. The authors present theoretical and experimental results of the proposed approach using e-puck mini-robots. Finally, they discuss some preliminary results to lay the foundation of future research for improved coverage path planning using coalition game-based, structured, robot team reconfiguration techniques.

UR - http://www.scopus.com/inward/record.url?scp=84946727691&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84946727691&partnerID=8YFLogxK

U2 - 10.4018/978-1-4666-6328-2.ch010

DO - 10.4018/978-1-4666-6328-2.ch010

M3 - Chapter

SN - 1466663286

SN - 9781466663282

SP - 214

EP - 247

BT - Emerging Research on Swarm Intelligence and Algorithm Optimization

PB - IGI Global

ER -