MR-SimExCoverage: Multi-robot Simultaneous Exploration and Coverage
| dc.contributor.author | Nair V.G. | |
| dc.contributor.author | Guruprasad K.R. | |
| dc.date.accessioned | 2021-05-05T10:30:31Z | |
| dc.date.available | 2021-05-05T10:30:31Z | |
| dc.date.issued | 2020 | |
| dc.description.abstract | In this paper, we present a novel problem of simultaneous exploration and area coverage by multiple cooperating mobile robots. As the robots cover an initially unknown region, they perform intermittent exploration of the region and build a map, which in turn is used to plan the coverage path. We use a Voronoi partition based multi-robot coverage strategy using the Manhattan distance metric to solve the coverage problem and a frontier based exploration strategy for exploration mapping. We provide results of simulation using Matlab/V-rep environments to demonstrate the proposed multi-robot simultaneous exploration and coverage (MR-SimExCoverage) problem using the spanning tree based coverage (STC) algorithm. © 2020 Elsevier Ltd | en_US |
| dc.identifier.citation | Computers and Electrical Engineering Vol. 85 , , p. - | en_US |
| dc.identifier.uri | https://doi.org/10.1016/j.compeleceng.2020.106680 | |
| dc.identifier.uri | https://idr.nitk.ac.in/handle/123456789/16449 | |
| dc.title | MR-SimExCoverage: Multi-robot Simultaneous Exploration and Coverage | en_US |
| dc.type | Article | en_US |