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Erschienen in:
2006 | OriginalPaper | Buchkapitel
Multi-robot Learning for Continuous Area Sweeping
verfasst von : Mazda Ahmadi, Peter Stone
Erschienen in: Learning and Adaption in Multi-Agent Systems
Verlag: Springer Berlin Heidelberg
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As mobile robots become increasingly autonomous over extended periods of time, opportunities arise for their use on repetitive tasks. We define and implement behaviors for a class of such tasks that we call
continuous area sweeping
tasks. A continuous area sweeping task is one in which a group of robots must repeatedly visit all points in a fixed area, possibly with non-uniform frequency, as specified by a task-dependent cost function. Examples of problems that need continuous area sweeping are trash removal in a large building and routine surveillance. We present a formulation for this problem and an initial algorithm to address it. The approach is analyzed analytically and is fully implemented and tested, both in simulation and on physical robots.