Application of a quadtree-based market-allocation algorithm for cellular environment coverage with cooperative robots

Author

Alexis, Konstantinos ; Tzes, Anthony

Author_Institution

Dept. of Electr. & Comput. Eng., Patras Univ., Patras

fYear

2008

fDate

25-27 June 2008

Firstpage

938

Lastpage

945

Abstract

The maximum-area coverage problem over a free time interval with a team of cooperating robots is considered in this article. This area resides in a cellular rectangular environment in which there are obstacles. The robots detect the obstacles during their motion which is constrained in a finite set of maneuvers (left, right, forward, and backward). The uncovered but detected (by the sensors) area is decomposed using the quadtree algorithm and a heuristic search relying on the market-based allocation is employed for dispatching the robots. The efficiency of the suggested algorithm is shown in simulation studies.

Keywords

collision avoidance; cooperative systems; mobile robots; quadtrees; cellular environment coverage; cooperative robots; free time interval; maximum-area coverage problem; quadtree-based market-allocation algorithm; Automatic control; Cost function; Dispatching; Heuristic algorithms; Motion detection; Path planning; Robot kinematics; Robot sensing systems; Robotics and automation; Time factors;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Automation, 2008 16th Mediterranean Conference on

Conference_Location

Ajaccio

Print_ISBN

978-1-4244-2504-4

Electronic_ISBN

978-1-4244-2505-1

Type

conf

DOI

10.1109/MED.2008.4602253

Filename

4602253