MR-SimExCoverage: Multi-robot Simultaneous Exploration and Coverage

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dc.contributor.authorNair, V.G.
dc.contributor.authorGuruprasad, K.R.
dc.date.accessioned2026-02-05T09:28:26Z
dc.date.issued2020
dc.description.abstractIn 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
dc.identifier.citationComputers and Electrical Engineering, 2020, 85, , pp. -
dc.identifier.issn457906
dc.identifier.urihttps://doi.org/10.1016/j.compeleceng.2020.106680
dc.identifier.urihttps://idr.nitk.ac.in/handle/123456789/23835
dc.publisherElsevier Ltd
dc.subjectMATLAB
dc.subjectMultipurpose robots
dc.subjectTrees (mathematics)
dc.subjectArea coverages
dc.subjectCoverage problem
dc.subjectFrontier-based exploration
dc.subjectManhattan distance
dc.subjectMultirobots
dc.subjectSpanning tree
dc.subjectVoronoi partition
dc.subjectIndustrial robots
dc.titleMR-SimExCoverage: Multi-robot Simultaneous Exploration and Coverage

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