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Multi-robot fault tolerant area coverage with limited communication and sensing ranges
| Content Provider | Indraprastha Institute of Information Technology, Delhi |
|---|---|
| Author | Jain, Rishav |
| Abstract | Multi-robot coverage is an important problem relevant in many applications, which can be achieved by decomposing a region into cells or polygons and assigning each partition to an agent for coverage. In real world conditions, these agents can fail during operation and the area of the faulty agent must be redistributed. If global communication was available then the agents can easily detect the fault and repartition the regions. However, agents have limited communication and sensing capabilities, hence, the faulty agent may not be detected and its area may not be covered. In this paper, we develop two different fault tolerant area coverage algorithms, that enables quick detection of the faulty agent under limited communication constraints and redistributes the area such that complete area is covered. The approach is based on periodic communication between agents and scheduling of meeting time. The rest approach works in case of sequential single faults, whereas the second approach provides solution for multiple faults. The analysis of the algorithm and simulation results are presented to show the robustness of our approach. |
| File Format | |
| Language | English |
| Access Restriction | Authorized |
| Subject Keyword | Multi-Agent Area Coverage Fault Tolerance Fault Detection Static Environment Coordination |
| Content Type | Text |
| Educational Degree | Bachelor of Technology (B.Tech.) |
| Subject | Data processing & computer science |
