Genetic Algorithms in Search, Optimization and Machine Learning
Genetic Algorithms in Search, Optimization and Machine Learning
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
A Short History of Cleaning Robots
Autonomous Robots
Pattern-Based Genetic Algorithm Approach to Coverage Path Planning for Mobile Robots
ICCS '09 Proceedings of the 9th International Conference on Computational Science: Part I
Sensor-based coverage with extended range detectors
IEEE Transactions on Robotics
Deployment of mobile robots with energy and timing constraints
IEEE Transactions on Robotics
ICCSA'11 Proceedings of the 2011 international conference on Computational science and its applications - Volume Part III
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Multi-robot coverage path planning problems require every point in a given area to be covered by at least one member of the robot team using their sensors. For a time-efficient coverage, the environment needs to be partitioned among robots in a balanced manner. So the problem can be modeled as task assignment problem with load balancing. In this study, we propose two oriented genetic algorithms working in a hierarchical manner to deal with this problem. In the first phase, a previously proposed oriented genetic algorithm is used to find a single route with minimum repeated coverage. In the following phase, a directed genetic algorithm is used to partition the route among robots considering load balancing. The algorithm is coded in C++, simulations and experiments are conducted using P3-DX mobile robots in the MobileSim environment. The hierarchical oriented genetic algorithm (HOGA) is also compared to the multi-robot spanning tree coverage (STC) approach in terms of load balancing. The comparison indicates competitive results over multi-robot STC.