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https://idr.nitk.ac.in/jspui/handle/123456789/16449
Title: | MR-SimExCoverage: Multi-robot Simultaneous Exploration and Coverage |
Authors: | Nair V.G. Guruprasad K.R. |
Issue Date: | 2020 |
Citation: | Computers and Electrical Engineering Vol. 85 , , p. - |
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 |
URI: | https://doi.org/10.1016/j.compeleceng.2020.106680 http://idr.nitk.ac.in/jspui/handle/123456789/16449 |
Appears in Collections: | 1. Journal Articles |
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