MR-SimExCoverage: Multi-robot Simultaneous Exploration and Coverage

Nair, Vishnu G and Guruprasad, K R (2020) MR-SimExCoverage: Multi-robot Simultaneous Exploration and Coverage. Computers and Electrical Engineering, 85. ISSN 0045-7906

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Abstract

In this paper, we present a novel problem of simultaneous exploration and area coverage by multiple cooperating mobile robots. As the robots cover an initially unknown region, they perform intermittent exploration of the region and build a map, which in turn is used to plan the coverage path. We use a Voronoi partition based multi-robot coverage strategy using the Manhattan distance metric to solve the coverage problem and a frontier based exploration strategy for exploration mapping. We provide results of simulation using Matlab/V-rep environments to demonstrate the proposed multi-robot simultaneous exploration and coverage (MR-SimExCoverage) problem using the spanning tree based coverage (STC) algorithm.

Item Type: Article
Uncontrolled Keywords: Multi-robot systems Path planning Exploration Coverage
Subjects: Engineering > MIT Manipal > Aeronautical and Automobile
Engineering > MIT Manipal > Mechanical and Manufacturing
Depositing User: MIT Library
Date Deposited: 23 Feb 2021 06:37
Last Modified: 23 Feb 2021 06:37
URI: http://eprints.manipal.edu/id/eprint/156449

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