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DC Field | Value | Language |
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dc.contributor.author | Hungerford, K. | |
dc.contributor.author | Dasgupta, P. | |
dc.contributor.author | Guruprasad, K.R. | |
dc.date.accessioned | 2020-03-30T10:02:44Z | - |
dc.date.available | 2020-03-30T10:02:44Z | - |
dc.date.issued | 2014 | |
dc.identifier.citation | 13th International Conference on Autonomous Agents and Multiagent Systems, AAMAS 2014, 2014, Vol.2, , pp.1453-1454 | en_US |
dc.identifier.uri | http://idr.nitk.ac.in/jspui/handle/123456789/7752 | - |
dc.description.abstract | We consider the problem of coverage path planning by multiple robots in an environment where the location and geometry of obstacles are initially unknown to the robots. We propose a novel algorithm where the robots initially partition the environment using Voronoi partitioning. Each robot then uses an auction-based algorithm to reallocate inaccessible portions of its initial Voronoi cell to robots in neighboring Voronoi cells so that each robot is responsible for covering a set of contiguous connected regions. We have verified the performance of our algorithm on e-puck robots within the Webots simulator in different environments with different obstacle geometries and shown that it performs complete, non-overlapping coverage. Copyright � 2014, International Foundation for Autonomous Agents and Multiagent Systems (www.ifaamas.org). All rights reserved. | en_US |
dc.title | Distributed, complete, multi-robot coverage of initially unknown environments using repartitioning | en_US |
dc.type | Book chapter | en_US |
Appears in Collections: | 2. Conference Papers |
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