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Investigation of Optimal Deployment Problem in Three-Dimensional Space Coverage for Swarm Robotic System

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Social Robotics (ICSR 2012)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 7621))

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Abstract

Multi-robot systems such as swarm robotics have demonstrated collective and social behaviors in terms of environment sensing, coverage planning, decision making, and task execution. This article addresses one of the key challenges in 3D space coverage planning by multi-robots in large working spaces while avoiding critical non-trespassing zones. We investigated a mathematical approach for the optimal robot deployment problem, aiming to cover arbitrary 3D space using a minimal number of robots, provided a global map of the work-space. The proposed method is valuable in terms of optimal resource allocation while further incorporating with the emerging power of cloud computing and is a step towards optimal coordination of multiple robots for various applications.

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Author information

Authors and Affiliations

  1. Department of Bioengineering, National University of Singapore, Singapore, 117576, Singapore

    Hongliang Ren

  2. College of Engineering, University of Georgia, Athens, GA, USA, 30602

    Zion T. H. Tse

Authors
  1. Hongliang Ren
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  2. Zion T. H. Tse
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Editor information

Editors and Affiliations

  1. Interactive Digial Media Institute, Social Robotics Laboratory, National University of Singapore, 4 Engineering Drive 3, 117576, Singapore, Singapore

    Shuzhi Sam Ge  & John-John Cabibihan  & 

  2. Artificial Intelligence Laboratory, Department of Computer Science, Stanford University, Gates Building, 94305-9010, Stanford, CA, USA

    Oussama Khatib

  3. Robotics Institute, School of Computer Science, Carnegie Mellon University, 5000 Forbes Avenue, 15213, Pittsburgh, PA, USA

    Reid Simmons

  4. Faculty of Information Technology, University of Technology, Human-robot Collaboration Studio, 2007, Sydney, NSW, Australia

    Mary-Anne Williams

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© 2012 Springer-Verlag Berlin Heidelberg

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Ren, H., Tse, Z.T.H. (2012). Investigation of Optimal Deployment Problem in Three-Dimensional Space Coverage for Swarm Robotic System. In: Ge, S.S., Khatib, O., Cabibihan, JJ., Simmons, R., Williams, MA. (eds) Social Robotics. ICSR 2012. Lecture Notes in Computer Science(), vol 7621. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-34103-8_47

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  • DOI: https://doi.org/10.1007/978-3-642-34103-8_47

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-34102-1

  • Online ISBN: 978-3-642-34103-8

  • eBook Packages: Computer ScienceComputer Science (R0)

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