Distributed, complete, multi-robot coverage of initially unknown environments using repartitioning

Kurt Hungerford, Prithviraj Dasgupta, K. R. Guruprasad

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations

Abstract

We consider the problem of coverage path planning by multiple robots in an environment where the location and geometry of obstacles are initially unknown to the robots. We propose a novel algorithm where the robots initially partition the environment using Voronoi partitioning. Each robot then uses an auction-based algorithm to reallocate inaccessible portions of its initial Voronoi cell to robots in neighboring Voronoi cells so that each robot is responsible for covering a set of contiguous connected regions. We have verified the performance of our algorithm on e-puck robots within the Webots simulator in different environments with different obstacle geometries and shown that it performs complete, non-overlapping coverage.

Original languageEnglish (US)
Title of host publication13th International Conference on Autonomous Agents and Multiagent Systems, AAMAS 2014
PublisherInternational Foundation for Autonomous Agents and Multiagent Systems (IFAAMAS)
Pages1453-1454
Number of pages2
ISBN (Electronic)9781634391313
StatePublished - 2014
Event13th International Conference on Autonomous Agents and Multiagent Systems, AAMAS 2014 - Paris, France
Duration: May 5 2014May 9 2014

Publication series

Name13th International Conference on Autonomous Agents and Multiagent Systems, AAMAS 2014
Volume2

Conference

Conference13th International Conference on Autonomous Agents and Multiagent Systems, AAMAS 2014
CountryFrance
CityParis
Period5/5/145/9/14

Keywords

  • Coverage
  • Multi-robot systems
  • Voronoi partition

ASJC Scopus subject areas

  • Artificial Intelligence

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  • Cite this

    Hungerford, K., Dasgupta, P., & Guruprasad, K. R. (2014). Distributed, complete, multi-robot coverage of initially unknown environments using repartitioning. In 13th International Conference on Autonomous Agents and Multiagent Systems, AAMAS 2014 (pp. 1453-1454). (13th International Conference on Autonomous Agents and Multiagent Systems, AAMAS 2014; Vol. 2). International Foundation for Autonomous Agents and Multiagent Systems (IFAAMAS).