Multi-robot coverage with dynamic coverage information compression

Zachary Wilson, Taylor Whipple, Prithviraj Dasgupta

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

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.

Original languageEnglish (US)
Title of host publicationICINCO 2011 - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics
Pages236-241
Number of pages6
StatePublished - Sep 14 2011
Event8th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2011 - Noordwijkerhout, Netherlands
Duration: Jul 28 2011Jul 31 2011

Publication series

NameICINCO 2011 - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics
Volume2

Conference

Conference8th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2011
CountryNetherlands
CityNoordwijkerhout
Period7/28/117/31/11

Fingerprint

Robots
Parallel algorithms
Mobile robots
Experiments

Keywords

  • Exploration
  • Information compression
  • Multi-robot coverage

ASJC Scopus subject areas

  • Information Systems
  • Control and Systems Engineering

Cite this

Wilson, Z., Whipple, T., & Dasgupta, P. (2011). Multi-robot coverage with dynamic coverage information compression. In ICINCO 2011 - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics (pp. 236-241). (ICINCO 2011 - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics; Vol. 2).

Multi-robot coverage with dynamic coverage information compression. / Wilson, Zachary; Whipple, Taylor; Dasgupta, Prithviraj.

ICINCO 2011 - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics. 2011. p. 236-241 (ICINCO 2011 - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics; Vol. 2).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Wilson, Z, Whipple, T & Dasgupta, P 2011, Multi-robot coverage with dynamic coverage information compression. in ICINCO 2011 - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics. ICINCO 2011 - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics, vol. 2, pp. 236-241, 8th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2011, Noordwijkerhout, Netherlands, 7/28/11.
Wilson Z, Whipple T, Dasgupta P. Multi-robot coverage with dynamic coverage information compression. In ICINCO 2011 - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics. 2011. p. 236-241. (ICINCO 2011 - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics).
Wilson, Zachary ; Whipple, Taylor ; Dasgupta, Prithviraj. / Multi-robot coverage with dynamic coverage information compression. ICINCO 2011 - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics. 2011. pp. 236-241 (ICINCO 2011 - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics).
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