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Author: search.filters.author.Guruprasad, K.R.Subject: search.filters.subject.Agricultural robots

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    GeoDesic-VPC: Spatial partitioning for multi-robot coverage problem
    (Acta Press journals@actapress.com, 2020) Nair, V.G.; Guruprasad, K.R.
    In this paper, we address a problem of area coverage using multiple cooperating robots using a “partition and cover" approach, where the area of interest is decomposed into as many cells as the robots, and each robot is assigned the task of covering a cell. While the most partitioning approaches used in the literature in the context of a robotic coverage problem may result in topologically disconnected cells in the presence of obstacles leading to incomplete coverage, we propose to use geodesic distance-based generalization of the Voronoi partition, ensuring that each cell that is allotted for a robot for coverage is a topologically connected region, and hence, achieving a complete coverage. The proposed multi-robot coverage strategy is demonstrated with simulation in MATLAB and V-rep simulator, using two single-robot coverage algorithms reported in the literature, namely boustrophedon decomposition-based coverage and spanning tree-based coverage algorithms. © 2020 SAE International. All rights reserved.
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    CPC Algorithm: Exact Area Coverage by a Mobile Robot Using Approximate Cellular Decomposition
    (Cambridge University Press, 2021) Guruprasad, K.R.; Ranjitha, T.D.
    A new coverage path planning (CPP) algorithm, namely cell permeability-based coverage (CPC) algorithm, is proposed in this paper. Unlike the most CPP algorithms using approximate cellular decomposition, the proposed algorithm achieves exact coverage with lower coverage overlap compared to that with the existing algorithms. Apart from a formal analysis of the algorithm, the performance of the proposed algorithm is compared with two representative approximate cellular decomposition-based coverage algorithms reported in the literature. Results of demonstrative experiments on a TurtleBot mobile robot within the robot operating system/Gazebo environment and on a Fire Bird V robot are also provided. © 2021 Cambridge University Press. All rights reserved.