Unsmooth field sweeping by Balistic random walk of multiple robots in unsmooth terrain

The major goal of this paper is to develop a robotic weeding system for a rice field by multiple robots. The task of the robots is to move around a given field for preventing sprouting of weed seeds. In other words, a key issue is to sweep or cover the given filed by robot trajectories. Since the motions of the robots are affected disturbances from an unsmooth and soft ground, we cannot apply a conventional path planning strategy. In this paper, we introduce a random walk into a path planning system for the robustness to the disturbances and we investigate the relation between a time period of robot operations and swept area.