ICRA 2011 Paper Abstract


Paper ThA112.3

Jensen, Elizabeth (University of Minnesota), Franklin, Michael (University of Minnesota), Lahr, Sara (University of Minnesota), Gini, Maria (University of Minnesota)

Sustainable Multi-Robot Patrol of an Open Polyline

Scheduled for presentation during the Regular Sessions "Distributed Robot Systems III" (ThA112), Thursday, May 12, 2011, 08:50−09:05, 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 August 18, 2019

Keywords Distributed Robot Systems


We present an algorithm that maintains coverage of an open polyline patrolled by a team of robots. While previous work has focused on the uniformity of patrolling, we focus on ensuring the longevity of the system in the face of robot failures. A central control tower monitors the battery levels of the robots, and recalls them when they are low on power replacing them with fully charged robots. We compare two methods for replacement, both of which aim to keep coverage interruptions to a minimum. We present results obtained through physical experiments and simulations.



Technical Content © IEEE Robotics & Automation Society

This site is protected by copyright and trademark laws under US and International law.
All rights reserved. © 2002-2019 PaperCept, Inc.
Page generated 2019-08-18  14:21:15 PST  Terms of use