A solution with multiple robots and Kinect systems to implement the parallel coverage problem

Hyeun Jeong Min, Duc Fehr, Nikolaos P Papanikolopoulos

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Scopus citations

Abstract

The coverage problem has been traditionally solved for a given number of robots with randomly generated positions. However, our recent work presented a solution to the parallel coverage problem that optimizes the number of robots starting at the same location. The motivations are: (i) the number of involved robots affects the total coverage cost, and (ii) it requires extra effort to place them at real-world locations. In this work we present a control algorithm for multiple robots with Kinect systems to implement the solution to the parallel coverage problem. Our algorithm utilizes a multi-robot formation. Robots need to localize themselves to know where they are within a map. To localize the robots and to reduce inter-communication, we introduce a technique to place only certain robots in a team. This work also presents an algorithm on how to manage dynamic changes of a group of formations in order to solve the coverage problem. This paper demonstrates the mission, which is to visit every desired position to cover an indoor environment, with a team of real robots and the Kinect system.

Original languageEnglish (US)
Title of host publication2012 20th Mediterranean Conference on Control and Automation, MED 2012 - Conference Proceedings
Pages555-560
Number of pages6
DOIs
StatePublished - Oct 5 2012
Event2012 20th Mediterranean Conference on Control and Automation, MED 2012 - Barcelona, Spain
Duration: Jul 3 2012Jul 6 2012

Other

Other2012 20th Mediterranean Conference on Control and Automation, MED 2012
CountrySpain
CityBarcelona
Period7/3/127/6/12

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