Introduction to algorithms
Multi-robot collaboration for robust exploration
Annals of Mathematics and Artificial Intelligence
Spanning-tree based coverage of continuous areas by a mobile robot
Annals of Mathematics and Artificial Intelligence
Coverage for robotics – A survey of recent results
Annals of Mathematics and Artificial Intelligence
Competitive on-line coverage of grid environments by a mobile robot
Computational Geometry: Theory and Applications
Building Terrain-Covering Ant Robots: A Feasibility Study
Autonomous Robots
On redundancy, efficiency, and robustness in coverage for multiple robots
Robotics and Autonomous Systems
Multi-robot exploration of an unknown environment, efficiently reducing the odometry error
IJCAI'97 Proceedings of the Fifteenth international joint conference on Artifical intelligence - Volume 2
Models and algorithmic approaches for cooperative multi-robot systems: thesis abstract
Proceedings of the 7th international joint conference on Autonomous agents and multiagent systems: doctoral mentoring program
Proceedings of the 9th International Conference on Autonomous Agents and Multiagent Systems: volume 1 - Volume 1
Multi-robot area patrol under frequency constraints
Annals of Mathematics and Artificial Intelligence
Multirobot forest coverage for weighted and unweighted terrain
IEEE Transactions on Robotics
Multi robot exploration using a modified a algorithm
ACIIDS'11 Proceedings of the Third international conference on Intelligent information and database systems - Volume Part I
CoUAV: a multi-UAV cooperative search path planning simulation environment
Proceedings of the 2010 Summer Computer Simulation Conference
Boundary patrolling by mobile agents with distinct maximal speeds
ESA'11 Proceedings of the 19th European conference on Algorithms
AI'10 Proceedings of the 23rd Canadian conference on Advances in Artificial Intelligence
Multi-robot repeated area coverage
Autonomous Robots
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This paper discusses the problem of building efficient coverage paths for a team of robots. An efficient multi-robot coverage algorithm should result in a coverage path for every robot, such that the union of all paths generates a full coverage of the terrain and the total coverage time is minimized. A method underlying several coverage algorithms, suggests the use of spanning trees as base for creating coverage paths. However, overall performance of the coverage is heavily dependent on the given spanning tree. This paper focuses on the challenge of constructing a coverage spanning tree for both online and offline coverage that minimizes the time to complete coverage. Our general approach involves building a spanning tree by growing sub-trees from the initial location of the robots. This paper first describes a polynomial time tree-construction algorithm for offline coverage. The use of this algorithm is shown by extensive simulations to significantly improve the coverage time of the terrain even when used as a basis for a simple, inefficient, coverage algorithm. Second, this paper provides an algorithm for online coverage of a finite terrain based on spanning-trees, that is complete and guarantees linear time coverage with no redundancy in the coverage. In addition, the solutions proposed by this paper guarantee robustness to failing robots: the offline trees are used as base for robust multi-robot coverage algorithms, and the online algorithm is proven to be robust.