TY - GEN
T1 - Online multi-robot coverage
T2 - 17th International Conference on Autonomous Agents and Multiagent Systems, AAMAS 2018
AU - Jensen, Elizabeth A.
AU - Gini, Maria
PY - 2018/1/1
Y1 - 2018/1/1
N2 - 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.
AB - 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.
KW - Distributed systems
KW - Multi-robot systems
KW - Omine coverage
UR - http://www.scopus.com/inward/record.url?scp=85054758222&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85054758222&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:85054758222
SN - 9781510868083
T3 - Proceedings of the International Joint Conference on Autonomous Agents and Multiagent Systems, AAMAS
SP - 1974
EP - 1976
BT - 17th International Conference on Autonomous Agents and Multiagent Systems, AAMAS 2018
PB - International Foundation for Autonomous Agents and Multiagent Systems (IFAAMAS)
Y2 - 10 July 2018 through 15 July 2018
ER -