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Area Coverage Algorithms for Networked Multi-robot Systems

  • Lamia IftekharEmail author
  • H. M. Nafid Rahman
  • Imran Rahman
Chapter
Part of the Studies in Systems, Decision and Control book series (SSDC, volume 175)

Abstract

The area coverage problem in robotics alludes to the challenge of getting a network of mobile robots to efficiently cover or sense a spatial region of interest in an optimal way. A significant number of coverage algorithms exists, especially from works on sensor networks and related computer science fields, offering a wide range of coverage solutions. However, many of them are not readily applicable to robotic systems due to computational complexity of the theoretical algorithms as well as the physical limitations of the robots in terms of sensing and processing. In this chapter, we take a look at various area coverage algorithms that can be implemented upon a system of networked robots and try to identify the ideal characteristics of an area coverage algorithm whose target application is in mobile robotics. We propose a set of simple flocking-based algorithms which inherently captures the identified characteristics of a good coverage algorithm for a multi-robot system. The proposed algorithm is simulated under various conditions to demonstrate its feasibility. This chapter also gives the reader further direction towards open research problems on this topic.

Keywords

Distributed control Swarm robots Sensor networks Coverage optimization Cooperative behavior 

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Copyright information

© Springer Nature Singapore Pte Ltd. 2019

Authors and Affiliations

  • Lamia Iftekhar
    • 1
    Email author
  • H. M. Nafid Rahman
    • 2
  • Imran Rahman
    • 3
  1. 1.Department of Electrical and Computer EngineeringNorth South UniversityDhakaBangladesh
  2. 2.Ceridian HCMTorontoCanada
  3. 3.The Bradley Department of Electrical and Computer EngineeringVirginia Polytechnic Institute and State UniversityBlacksburgUSA

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