MR-SimExCoverage: Multi-robot Simultaneous Exploration and Coverage

Vishnu G. Nair, K. R. Guruprasad

Research output: Contribution to journalArticle

Abstract

In this paper, we present a novel problem of simultaneous exploration and area coverage by multiple cooperating mobile robots. As the robots cover an initially unknown region, they perform intermittent exploration of the region and build a map, which in turn is used to plan the coverage path. We use a Voronoi partition based multi-robot coverage strategy using the Manhattan distance metric to solve the coverage problem and a frontier based exploration strategy for exploration mapping. We provide results of simulation using Matlab/V-rep environments to demonstrate the proposed multi-robot simultaneous exploration and coverage (MR-SimExCoverage) problem using the spanning tree based coverage (STC) algorithm.

Original languageEnglish
Article number106680
JournalComputers and Electrical Engineering
Volume85
DOIs
Publication statusPublished - 07-2020

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All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science(all)
  • Electrical and Electronic Engineering

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