ICRA 2011 Paper Abstract


Paper ThA103.1

Haumann, A. Dominik (Technische Universitšt Darmstadt), Breitenmoser, Andreas (ETH Zurich), Willert, Volker (Technical University of Darmstadt), Listmann, Kim Daniel (Technische Universitšt Darmstadt), Siegwart, Roland (ETH Zurich)

DisCoverage for Non-Convex Environments with Arbitrary Obstacles

Scheduled for presentation during the Regular Sessions "Path Planning for Multiple Robots I" (ThA103), Thursday, May 12, 2011, 08:20−08:35, Room 3D

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 19, 2019

Keywords Path Planning for Multiple Mobile Robots or Agents, Motion and Path Planning, Mapping


DisCoverage is a distributed strategy for frontier-based multi-robot exploration. The robots coordinate by a partition of the environment, and choose their target points by optimizing a locally decomposable objective function. In [9] DisCoverage for convex regions was proposed. In this work, we extend DisCoverage to support arbitrary non-convex real-world environments with obstacles. Therefore, we introduce a transformation of non-convex environments to robot centric star-shaped domains. This results in a general solution with broader applications for exploration and path planning. Simulations as well as experiments with real robots demonstrate the exploration progress.



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