Multi-robot forest coverage
Multi-robot forest coverage
复制标题
多机器人森林覆盖
DOI：
10.1109/iros.2005.1545323
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发表时间：
2005
期刊：
影响因子：
--
通讯作者：
D. Kempe
中科院分区：
文献类型：
--
作者：
Xiaoming Zheng;Sonal Jain;Sven Koenig;D. Kempe
移动机器人的主要应用之一是地形覆盖：访问已知地形中的每个位置。地形覆盖对于草坪修剪、清洁、收割、搜索救援、入侵检测和扫雷至关重要。当然，使用多个机器人可以加快覆盖速度。在本文中，我们描述了多机器人森林覆盖，这是一种基于 Even 等人的算法的新多机器人覆盖算法。 （2004）寻找平衡权重树木的树木覆盖。多机器人森林覆盖的覆盖时间最多比最佳覆盖时间长八倍，我们的实验表明它的性能明显优于现有的多机器人覆盖算法。
One of the main applications of mobile robots is terrain coverage: visiting each location in known terrain. 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. In this paper, we describe multi-robot forest coverage, a new multi-robot coverage algorithm based on an algorithm by Even et al. (2004) for finding a tree cover with trees of balanced weights. The cover time of multi-robot forest coverage is at most eight times larger than optimal, and our experiments show it to perform significantly better than existing multi-robot coverage algorithms.