Effects of Multi-Robot Team Formations on Distributed Area Coverage

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Author(s): Prithviraj Dasgupta (University of Nebraska at Omaha, USA), Taylor Whipple (University of Nebraska at Omaha, USA)and Ke Cheng (University of Nebraska at Omaha, USA)
Copyright: 2013
Pages: 27
Source title: Recent Algorithms and Applications in Swarm Intelligence Research
Source Author(s)/Editor(s): Yuhui Shi (Southern University of Science and Technology (SUSTech), China)
DOI: 10.4018/978-1-4666-2479-5.ch014

Keywords: Agent Technologies / Artificial Intelligence / Computer Science & IT / Information Science Reference

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Abstract

This paper examines the problem of distributed coverage of an initially unknown environment using a multi-robot system. Specifically, focus is on a coverage technique for coordinating teams of multiple mobile robots that are deployed and maintained in a certain formation while covering the environment. The technique is analyzed theoretically and experimentally to verify its operation and performance within the Webots robot simulator, as well as on physical robots. Experimental results show that the described coverage technique with robot teams moving in formation can perform comparably with a technique where the robots move individually while covering the environment. The authors also quantify the effect of various parameters of the system, such as the size of the robot teams, the presence of localization, and wheel slip noise, as well as environment related features like the size of the environment and the presence of obstacles and walls on the performance of the area coverage operation.

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Effects of Multi-Robot Team Formations on Distributed Area Coverage

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