Title :
Application of a quadtree-based market-allocation algorithm for cellular environment coverage with cooperative robots
Author :
Alexis, Konstantinos ; Tzes, Anthony
Author_Institution :
Dept. of Electr. & Comput. Eng., Patras Univ., Patras
Abstract :
The maximum-area coverage problem over a free time interval with a team of cooperating robots is considered in this article. This area resides in a cellular rectangular environment in which there are obstacles. The robots detect the obstacles during their motion which is constrained in a finite set of maneuvers (left, right, forward, and backward). The uncovered but detected (by the sensors) area is decomposed using the quadtree algorithm and a heuristic search relying on the market-based allocation is employed for dispatching the robots. The efficiency of the suggested algorithm is shown in simulation studies.
Keywords :
collision avoidance; cooperative systems; mobile robots; quadtrees; cellular environment coverage; cooperative robots; free time interval; maximum-area coverage problem; quadtree-based market-allocation algorithm; Automatic control; Cost function; Dispatching; Heuristic algorithms; Motion detection; Path planning; Robot kinematics; Robot sensing systems; Robotics and automation; Time factors;
Conference_Titel :
Control and Automation, 2008 16th Mediterranean Conference on
Conference_Location :
Ajaccio
Print_ISBN :
978-1-4244-2504-4
Electronic_ISBN :
978-1-4244-2505-1
DOI :
10.1109/MED.2008.4602253
