Terrain coverage with ant robots: a simulation study
Proceedings of the fifth international conference on Autonomous agents
Robot Motion Planning
Computers and Intractability: A Guide to the Theory of NP-Completeness
Computers and Intractability: A Guide to the Theory of NP-Completeness
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
Mobile Robot Path Planning Among Weighted Regions Using Quadtree Representations
EUROCAST '99 Proceedings on Computer Aided Systems Theory
An algorithm of dividing a work area to multiple mobile robots
IROS '95 Proceedings of the International Conference on Intelligent Robots and Systems-Volume 2 - Volume 2
Distributed coverage of rectilinear environments
Distributed coverage of rectilinear environments
Building Terrain-Covering Ant Robots: A Feasibility Study
Autonomous Robots
Algorithm Design
A model for terrain coverage inspired by ant's alarm pheromones
Proceedings of the 2007 ACM symposium on Applied computing
Cooperative Cleaners: A Study in Ant Robotics
International Journal of Robotics Research
The giving tree: constructing trees for efficient offline and online multi-robot coverage
Annals of Mathematics and Artificial Intelligence
Annals of Mathematics and Artificial Intelligence
A framework for multi-robot node coverage in sensor networks
Annals of Mathematics and Artificial Intelligence
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
Operations Research Letters
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One of the main applications of mobile robots is coverage: visiting each location in known terrain. Coverage is crucial for lawn mowing, cleaning, harvesting, search-and-rescue, intrusion detection, and mine clearing. Naturally, coverage can be sped up with multiple robots. However, we show that solving several versions of multirobot coverage problems with minimal cover times is NP-hard, which provides motivation for designing polynomialtime constant-factor approximation algorithms. We then describe multirobot forest coverage (MFC), a new polynomial-time multirobot coverage algorithm based on an algorithm by Even et al. [Min-max tree covers of graphs. Oper. Res. Lett., vol. 32, pp. 309- 315, 2004] for finding a tree cover with trees of balanced weights. Our theoretical results show that the cover times of MFC in weighted and unweighted terrain are at most about a factor of 16 larger than minimal. Our simulation results show that the cover times of MFC are close to minimal in all tested scenarios and smaller than the cover times of an alternative multirobot coverage algorithm.