Distributed multi-robot sweep coverage for a region with unknown workload distribution

Muqing Cao, Kun Cao, Xiuxian Li, Shenghai Yuan, Yang Lyu, Thien Minh Nguyen, Lihua Xie

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13 引用 (Scopus)

摘要

This paper considers the scenario where multiple robots collaboratively cover a region in which the exact distribution of workload is unknown prior to the operation. The workload distribution is not uniform in the region, meaning that the time required to cover a unit area varies at different locations of the region. In our approach, we divide the target region into multiple horizontal stripes, and the robots sweep the current stripe while partitioning the next stripe concurrently. We propose a distributed workload partition algorithm and prove that the operation time on each stripe converges to the minimum under the discrete-time update law. We conduct comprehensive simulation studies and compare our method with the existing methods to verify the theoretical results and the advantage of the proposed method. Flight experiments on mini drones are also conducted to demonstrate the practicality of the proposed algorithm.

源语言英语
文章编号13
期刊Autonomous Intelligent Systems
1
1
DOI
出版状态已出版 - 12月 2021
已对外发布

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