Coverage, exploration, and deployment by a mobile robot and communication network

  • Authors:

  • Maxim A. Batalin;Gaurav S. Sukhatme

  • Affiliations:

  • Robotic Embedded Systems Lab, Computer Science Department, Center for Robotics and Embedded Systems, University of Southern California, Los Angeles, CA;Robotic Embedded Systems Lab, Computer Science Department, Center for Robotics and Embedded Systems, University of Southern California, Los Angeles, CA

  • Venue:
  • IPSN'03 Proceedings of the 2nd international conference on Information processing in sensor networks
  • Year:
  • 2003

Quantified Score

Hi-index 0.00

Visualization

Abstract

We consider the problem of coverage and exploration of an unknown dynamic environment using a mobile robot(s). The environment is assumed to be large enough such that constant motion by the robot(s) is needed to cover the environment. We present an efficient minimalist algorithm which assumes that global information is not available (neither a map, nor GPS). Our algorithm deploys a network of radio beacons which assists the robot(s) in coverage. This network is also used for navigation. The deployed network can also be used for applications other than coverage. Simulation experiments are presented which show the collaboration between the deployed network and mobile robot(s) for the tasks of coverage/exploration, network deployment and maintenance (repair), and mobile robot(s) recovery (homing behavior). We present a theoretical basis for our algorithm on graphs and show the results of the simulated scenario experiments.