Cooperating Cleaning Robots
If multiple robots are used to cooperatively clean a large room, e.g. an airport, a variety of problems have to be solved. The area which has to be cleaned must be partitioned among the robots, each robot must completely cover the area it is responsible for and collisions among the robots must be avoided.
In this paper we describe the problems in detail and provide some solutions. The methods described in the paper work completely decentralized. They do not require a centralized component or global synchronization. There is also no need for a global communication network. We demonstrate that it is sufficient for the robots to communicate in a local neighborhood.
We also introduce an agent based control architecture for mobile robots. The architecture allows us to integrate the solutions to all the problems into one system. The basic idea is that each robot is controlled by a set of agents. The agents can cooperate with each other or with agents of other robots.
KeywordsMobile Robot Collision Avoidance Multiple Robot Global Synchronization Single Robot
Unable to display preview. Download preview PDF.
- 1.R. D. Schraft and G. Schmierer, Serviceroboter: Produkte, Szenarien, Visionen, Springer, 1998Google Scholar
- 2.H. Endres, W. Feiten, and G. Lawitzky, Field Test of a Navigation System: Autonomous Cleaning in Supermarkets, Int. Conf. on Robotics and Automation (ICRA), pp. 1779–1781, 1998Google Scholar
- 3.H. Bast and S. Hert, The Area Partitioning Problem, Proc. of the 12th Canadian Conf. on Computational Geometry, pp. 163–171, 2000Google Scholar
- 4.C. Hofner and G. Schmidt, Path Planning And Guidance Techniques For An Autonomous Mobile Cleaning Robot, Int. Conf. on Intelligent Robots and Systems (IROS), pp. 610–617, 1994Google Scholar
- 5.M. Jäger and B. Nebel, Decentralized Collision Avoidance, Deadlock Detection, and Deadlock Resolution for Multiple Mobile Robots, Int. Conf. on Intelligent Robots and Systems (IROS), pp. 1213–1219, 2001Google Scholar
- 6.M. Bennewitz and W. Burgard, Coordinating the Motions of Multiple Mobile Robots Using a Probabilistic Model, 8th Int. Symposium on Intelligent Robotic Systems (SIRS), 2000Google Scholar
- 7.E. U. Acar, Y. Zhang, H. Choset, M. Schervish, A. G. Costa, R. Melamud, D. C. Lean, and A. Graveline, Path Planning for Robotic Demining and Development of a Test Platform, Proc. of the 3rd Int. Conf. on Field and Service Robotics (FSR), pp. 161–168, 2001Google Scholar
- 8.Nils J. Nilsson, Shakey the Robot, SRI AI Center Technical Note 323, April 1984Google Scholar
- 10.E. Gat, On Three-Layer Architectures, In AI and Mobile Robots, AAAI Press, 1998Google Scholar
- 11.J. P. Müller, The Design of Intelligent Agents, A Layered Approach, Springer-Verlag Berlin, 1996Google Scholar
- 12.M. Dietl, J.-S. Gutmann, and B. Nebel, Cooperative Sensing in Dynamic Environments, Int. Conf. on Intelligent Robots and Systems (IROS), 2001Google Scholar
- 13.FIPA (Foundation For Intelligent Physical Agents), http://www.fipa.org, 2002Google Scholar
- 14.JADE (Java Agent DEvelopment Framework), http://sharon.cselt.it/projects/jade, 2002Google Scholar
- 15.E. Friedman-Hill, Jess (Java Expert System Shell), http://herzberg.ca.sandia.gov/jess, 2002Google Scholar
- 17.M. Jäger and B. Nebel, Dynamic Decentralized Area Partitioning for Cooperating Cleaning Robots, Int. Conf. on Robotics and Automation (ICRA), to appear, 2002Google Scholar