Cooperating Cleaning Robots

  • Markus Jäger
Conference paper


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.


Mobile Robot Collision Avoidance Multiple Robot Global Synchronization Single Robot 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Tokyo 2002

Authors and Affiliations

  • Markus Jäger
    • 1
  1. 1.Corporate Technology, Information & CommunicationsSiemens AGMunichGermany

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