Multi-robot collaboration for robust exploration
Annals of Mathematics and Artificial Intelligence
Coverage for robotics – A survey of recent results
Annals of Mathematics and Artificial Intelligence
Coverage of Known Spaces: The Boustrophedon Cellular Decomposition
Autonomous Robots
Efficient Boustrophedon Multi-Robot Coverage: an algorithmic approach
Annals of Mathematics and Artificial Intelligence
The giving tree: constructing trees for efficient offline and online multi-robot coverage
Annals of Mathematics and Artificial Intelligence
Lawn Mowing System for Known Areas
CIMCA '08 Proceedings of the 2008 International Conference on Computational Intelligence for Modelling Control & Automation
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The problem of coverage of known space arises in a multitude of domains, including search and rescue, mapping, and surveillance. In many of these applications, it is desirable or even necessary for the solution to guarantee both the complete coverage of the free space, as well as the efficiency of the generated trajectory in terms of distance traveled. A novel algorithm is introduced, based on the boustrophedon cellular decomposition technique, for computing an efficient complete coverage path for a known environment populated with arbitrary obstacles. This hierarchical approach first partitions the space to be covered into non-overlapping cells, then solves the Chinese postman problem to compute an Eulerian circuit traversing through these cells, and finally concatenates per-cell seed spreader motion patterns into a complete coverage path. Practical considerations of the coverage system are also explored for operations with a non-holonomic aerial vehicle. The effects of various system parameters are evaluated in controlled environments using a high-fidelity flight simulator, in addition to over 200 km of in-field flight sessions with a fixed-wing unmanned aerial vehicle.