Remember-All Based Frontier Allocation for Multi-Robot Coverage in Unknown Environments

DOI

10.2991/aiie-16.2016.34How to use a DOI?

Keywords

robot coverage; autonomous robots; frontier coverage; unknown environments; ROS

Abstract

Robots are being increasingly used for coverage tasks which were earlier considered too dangerous or monotonous to be performed by humans such as interplanetary exploration, search & rescue missions, etc. Out of all the multi-robot coverage approaches, the frontier based approach is one of the most widely used. Most of the coverage approaches developed so far face the issue of frontier duplication and require access to maps of the environments prior to coverage. In this work, a new frontier based strategy for multi-robot coverage in unknown environments is developed. This new strategy tries to remember and manage all the frontiers discovered so far. It is scalable to multiple robots and does not require prior access to the maps. It also uses a new frontier allocation and coordination strategy, which reduces the frontier duplication and improves the efficiency of coverage.

Copyright

© 2016, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Sushil Parti
AU  - Dan Wu
PY  - 2016/11
DA  - 2016/11
TI  - Remember-All Based Frontier Allocation for Multi-Robot Coverage in Unknown Environments
BT  - Proceedings of the 2016 2nd International Conference on Artificial Intelligence and Industrial Engineering (AIIE 2016)
PB  - Atlantis Press
SP  - 146
EP  - 152
SN  - 1951-6851
UR  - https://doi.org/10.2991/aiie-16.2016.34
DO  - 10.2991/aiie-16.2016.34
ID  - Parti2016/11
ER  -