Online multi-robot coverage: Algorithm comparisons

Elizabeth A. Jensen, Maria Gini

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

3 Scopus citations

Abstract

We consider the common assumptions made when multi-robot systems are used for exploration and coverage and the metrics used to compare performance. We then take three algorithms - the Rolling Dispersion Algorithm (RDA), the Multi-Robot Depth-First-Search (MR-DFS) algorithm, and the BoB algorithm - chosen for their different strengths and assumptions, and compare, using a set of common metrics, their performance in different simulation environments. We present two simple extensions to RDA - RDA-MS (multi-start) and RDA-EC (extended communication), which preserve RDA's original assumptions, but are able to perform as well as the algorithms that make more demanding assumptions.

Original languageEnglish (US)
Title of host publication17th International Conference on Autonomous Agents and Multiagent Systems, AAMAS 2018
PublisherInternational Foundation for Autonomous Agents and Multiagent Systems (IFAAMAS)
Pages1974-1976
Number of pages3
ISBN (Print)9781510868083
StatePublished - Jan 1 2018
Event17th International Conference on Autonomous Agents and Multiagent Systems, AAMAS 2018 - Stockholm, Sweden
Duration: Jul 10 2018Jul 15 2018

Publication series

NameProceedings of the International Joint Conference on Autonomous Agents and Multiagent Systems, AAMAS
Volume3
ISSN (Print)1548-8403
ISSN (Electronic)1558-2914

Other

Other17th International Conference on Autonomous Agents and Multiagent Systems, AAMAS 2018
CountrySweden
CityStockholm
Period7/10/187/15/18

Keywords

  • Distributed systems
  • Multi-robot systems
  • Omine coverage

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