Robotic Uniform Coverage of Arbitrary-Shaped Connected Regions

Abstract

In this article we present a novel algorithm for uniform coverage of a region. Surveillance, cleaning, and mine detection are some applications that would benefit from this type of algorithm. Prior work has claimed that this task is impossible to solve for non-convex regions. Our algorithm enables robots to uniformly cover arbitrary path-connected regions, such that the robot movements are not predictable and the region periphery is not neglected. The algorithm assumes that robots are independent and is physics-based, relying on an analogy with mean free paths of particles. Validation of the algorithm is rigorously provided via simulation and real robot experiments.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 2010
Accession Number
ADA557977

Entities

People

  • Paul M. Maxim
  • William M. Spears

Tags

Communities of Interest

  • Autonomy
  • Materials and Manufacturing Processes
  • Sensors

DTIC Thesaurus Topics

  • Algorithms
  • Boundaries
  • Cell Division
  • Cell Size
  • Collision Avoidance
  • Computer Programs
  • Computer Science
  • Computers
  • Detection
  • Graphical User Interface
  • Markov Chains
  • Mean Free Path
  • Operating Systems
  • Probability
  • Simulations
  • Surveillance
  • Transducers

Fields of Study

  • Computer science

Readers

  • Artificial Intelligence
  • Computational Fluid Dynamics (CFD)
  • Fluid Dynamics.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Bayesian Inference
  • AI & ML - Machine Learning Algorithms
  • Autonomy
  • Autonomy - Autonomous System Control