Data structures and network algorithms
Data structures and network algorithms
Navigating in unfamiliar geometric terrain
STOC '91 Proceedings of the twenty-third annual ACM symposium on Theory of computing
On the computational geometry of pocket machining
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Watchman routes under limited visibility
Computational Geometry: Theory and Applications
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Approximation algorithms for the geometric covering salesman problem
Discrete Applied Mathematics
Vision-based motion planning and exploration algorithms for mobile robots
WAFR Proceedings of the workshop on Algorithmic foundations of robotics
Robot navigation with range queries
STOC '96 Proceedings of the twenty-eighth annual ACM symposium on Theory of computing
Efficiently searching a graph by a smell-oriented vertex process
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Robotics and Autonomous Systems
On redundancy, efficiency, and robustness in coverage for multiple robots
Robotics and Autonomous Systems
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Robotics and Autonomous Systems
Multiple UAV exploration of an unknown region
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
Classifying the multi robot path finding problem into a quadratic competitive complexity class
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
Proceedings of the first ACM/SIGEVO Summit on Genetic and Evolutionary Computation
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Collaborative multi agent physical search with Probabilistic knowledge
IJCAI'09 Proceedings of the 21st international jont conference on Artifical intelligence
Synchronization on a segment without localization: algorithm and applications
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Multi-robot area patrol under frequency constraints
Annals of Mathematics and Artificial Intelligence
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IEEE Transactions on Robotics
Multi-robot exploration and terrain coverage in an unknown environment
Robotics and Autonomous Systems
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International Journal of Swarm Intelligence Research
Physical search problems with probabilistic knowledge
Artificial Intelligence
Worst-case optimal exploration of terrains with obstacles
Information and Computation
Multi-robot repeated area coverage
Autonomous Robots
Three-dimensional coverage planning for an underwater inspection robot
International Journal of Robotics Research
Distributed multi-robot patrol: A scalable and fault-tolerant framework
Robotics and Autonomous Systems
BA*: an online complete coverage algorithm for cleaning robots
Applied Intelligence
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This paper considers the problem of covering a continuous planar area by a square-shaped tool attached to a mobile robot. Using a tool-based approximation of the work-area, we present an algorithm that covers every point of the approximate area for tasks such as floor cleaning, lawn mowing, and field demining. The algorithm, called iSpanning Tree Covering (STC), subdivides the work-area into disjoint cells corresponding to the square-shaped tool, then follows a spanning tree of the graph induced by the cells, while covering every point precisely once. We present and analyze three versions of the STC algorithm. The first version is off-line, where the robot has perfect apriori knowledge of its environment. The off-line STC algorithm computes an optimal covering path in linear time O(iN), where iN is the number of cells comprising the approximate area. The second version of STC is on-line, where the robot uses its sensors to detect obstacles and construct a spanning tree of the environment while covering the work-area. The on-line STC algorithm completes an optimal covering path in time O(iN), but requires O(iN) memory for its implementation. The third version of STC is “ant”-like. In this version, too, the robot has no apriori knowledge of the environment, but it may leave pheromone-like markers during the coverage process. The ant-like STC algorithm runs in time O(iN), and requires only O(1) memory. Finally we present simulation results of the three STC algorithms, demonstrating their effectiveness in cases where the tool size is significantly smaller than the work-area characteristic dimension.