Node fault robustness for heterogeneous dynamic sensor networks
IMACS'08 Proceedings of the 7th WSEAS International Conference on Instrumentation, Measurement, Circuits and Systems
A unified approach for heterogeneity and node fault robustness in dynamic sensor networks
WSEAS TRANSACTIONS on COMMUNICATIONS
Mobile sensors networks under communication constraints
WSEAS TRANSACTIONS on SYSTEMS
Redundant coverage for noise reduction in dynamic sensor networks
WSEAS TRANSACTIONS on SYSTEMS
Proceedings of the first ACM/SIGEVO Summit on Genetic and Evolutionary Computation
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
Measurement noise reduction in dynamic sensor networks
ICS'08 Proceedings of the 12th WSEAS international conference on Systems
A decentralized protocol for wireless communication in mobile sensor networks
ICCOM Proceedings of the 13th WSEAS international conference on Communications
Constrained motion model of mobile robots and its applications
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
WSEAS TRANSACTIONS on COMMUNICATIONS
A topological approach of path planning for autonomous robot navigation in dynamic environments
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Robotics and Autonomous Systems
Application notes: memetic mission management
IEEE Computational Intelligence Magazine
Approximate solution of the multiple watchman routes problem with restricted visibility range
IEEE Transactions on Neural Networks
Robotics and Autonomous Systems
Capacitated arc routing problem with deadheading demands
Computers and Operations Research
A survey on coverage path planning for robotics
Robotics and Autonomous Systems
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Coverage path planning determines a path that passes a robot, a detector, or some type of effector over all points in the environment. Prior work in coverage tends to fall into one of two extremes: coverage with an effector the same size of the robot, and coverage with an effector that has infinite range. In this paper, we consider coverage in the middle of this spectrum: coverage with a detector range that goes beyond the robot, and yet is still finite in range. We achieve coverage in two steps: The first step considers vast, open spaces, where the robot can use the full range of its detector; the robot covers these spaces as if it were as big as its detector range. Here we employ previous work in using Morse cell decompositions to cover unknown spaces. A cell in this decomposition can be covered via simple back-and-forth motions, and coverage of the vast space is then reduced to ensuring that the robot visits each cell in the vast space. The second step considers the narrow or cluttered spaces where obstacles lie within detector range, and thus the detector "fills" the surrounding area. In this case, the robot can cover the cluttered space by simply following the generalized Voronoi diagram (GVD) of that space. In this paper, we introduce a hierarchical decomposition that combines the Morse decompositions and the GVDs to ensure that the robot indeed visits all vast, open, as well as narrow, cluttered, spaces. We show how to construct this decomposition online with sensor data that is accumulated while the robot enters the environment for the first time.