NDLI: The multi-robot coverage problem for optimal coordinated search with an unknown number of robots

Content Provider	IEEE Xplore Digital Library
Author	Hyeun Jeong Min Papanikolopoulos, N.
Copyright Year	2011
Description	Author affiliation: Department of Computer Science and Engineering, University of Minnesota, Minneapolis, 55455, USA (Hyeun Jeong Min; Papanikolopoulos, N.)
Abstract	This work presents a novel multi-robot coverage scheme for an unknown number of robots; it focuses on optimizing the number of robots and each path cost. Coverage problems traditionally deal with how a given number of robots covers the entire environment. This work, however, presents solutions of not only (i) how to cover the area (locations of interest) within the minimum time, but simultaneously (ii) how to find the optimal number of robots for a given time. Also, we consider the worst but realistic case of all robots starting at the same location instead of assuming randomly initialized positions. The minimum coverage time depends upon the number of robots used. Our research specifies (iii) how to find the minimum coverage time without knowing the number of robots. Finally, we present a deterministic coverage algorithm based on finding the shortest paths in order to optimize the number of robots and corresponding paths.
Starting Page	2866
Ending Page	2871
File Size	1778405
Page Count	6
File Format	PDF
ISBN	9781612843865
ISSN	10504729
e-ISBN	9781612843858
DOI	10.1109/ICRA.2011.5979995
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-05-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Robot kinematics Search problems Optimization Approximation algorithms
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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