Multi-robot learning for continuous area sweeping

Authors:
Mazda Ahmadi;Peter Stone
Affiliations:
Department of Computer Science, Learning Agent Research Group (LARG);Department of Computer Science, Learning Agent Research Group (LARG)
Venue:
LAMAS'05 Proceedings of the First international conference on Learning and Adaption in Multi-Agent Systems
Year:
2005

Citing 3
Cited 1

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Abstract

As mobile robots become increasingly autonomous over extended periods of time, opportunities arise for their use on repetitive tasks. We define and implement behaviors for a class of such tasks that we call continuous area sweeping tasks. A continuous area sweeping task is one in which a group of robots must repeatedly visit all points in a fixed area, possibly with non-uniform frequency, as specified by a task-dependent cost function. Examples of problems that need continuous area sweeping are trash removal in a large building and routine surveillance. We present a formulation for this problem and an initial algorithm to address it. The approach is analyzed analytically and is fully implemented and tested, both in simulation and on physical robots.