ICRA 2011 Paper Abstract


Paper WeA112.2

Min, Hyeun Jeong (Umn), Papanikolopoulos, Nikos (University of Minnesota)

The Multi-Robot Coverage Problem for Optimal Coordinated Search with an Unknown Number of Robots

Scheduled for presentation during the Regular Sessions "Distributed Robot Systems II" (WeA112), Wednesday, May 11, 2011, 08:35−08:50, Room 5H

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 14, 2020

Keywords Search and Rescue Robots, Distributed Robot Systems


This work presents a new multi-robot coverage scheme for an unknown number of robots; it focuses on optimizing the number of robots and each path cost. Coverage problems traditionally deal with how robots can cover the entire environment when a given number of them are randomly distributed. This work presents solutions of not only (i) how to cover the area (locations of interest) within the minimum time, but simultaneously (ii) how to find the optimal number of robots for a given time. We also present solutions for (iii) where we should initially place the robots. Instead of assuming randomly initialized positions, we consider the worst but realistic case of all robots starting at the same location. The minimum coverage time could be smaller or larger depending on the number of robots used. Our research specifies (iv) how to find the minimum coverage time without knowing the number of robots. This work presents a deterministic coverage algorithm based on finding the shortest paths between the initial positions in order to optimize the number of robots and corresponding paths.



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