Successive refinement algorithms for distributed area coverage using mobile robots

Authors:
Sriram Raghavan;Ravindran B
Affiliations:
Intel India, Bangalore, India;IIT Madras, Chennai, India
Venue:
COMPUTE '08 Proceedings of the 1st Bangalore Annual Compute Conference
Year:
2008

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Abstract

Distributed area coverage using multiple mobile robots poses several significant challenges. Minimizing the number of revisits and coordinating coverage across these robots are some of them. In this paper, we introduce a parameter called overlap_ratio to quantitatively define the overlap in coverage. Further, we design algorithms based on communication between the robots as the only coordinating tool. We demonstrate the utility of this parameter in conjunction with Pseudonet Coordination Architecture to develop area coverage algorithms through successive refinement. We analyze systematically how these algorithms perform on unknown terrains.