Kelly Benson

2 accepted papers

2017

Efficient multi-robot coverage of a known environment

Nare Karapetyan, Kelly Benson, Chris McKinney, Perouz Taslakian, Ioannis Rekleitis

IROS 2017poster

This paper addresses the complete area coverage problem of a known environment by multiple-robots. Complete area coverage is the problem of moving an end-effector over all available space while avoiding existing obstacles. In such tasks, using multiple robots can increase the efficiency of the area…

Cited by 113 Source ↗Scholar ↗

2017

Semi-boustrophedon coverage with a dubins vehicle

Jeremy S. Lewis, William Edwards, Kelly Benson, Ioannis Rekleitis, Jason M. O'Kane

IROS 2017poster

This paper addresses the problem of generating coverage paths-that is, paths that pass within some sensor footprint of every point in an environment-for vehicles with Dubins motion constraints. We extend previous work that solves this coverage problem as a traveling salesman problem (TSP) by introdu…

Cited by 44 Source ↗Scholar ↗