Multi-robot long-term persistent coverage with fuel constrained robots

Derek Mitchell; Micah Corah; Nilanjan Chakraborty; Katia Sycara; Nathan Michael

ICRA 2015poster77 citations

Multi-robot long-term persistent coverage with fuel constrained robots

Derek Mitchell, Micah Corah, Nilanjan Chakraborty, Katia Sycara, Nathan Michael

Abstract

In this paper, we present an algorithm to solve the Multi-Robot Persistent Coverage Problem (MRPCP). Here, we seek to compute a schedule that will allow a fleet of agents to visit all targets of a given set while maximizing the frequency of visitation and maintaining a sufficient fuel capacity by refueling at depots. We also present a heuristic method to allow us to compute bounded suboptimal results in real time. The results produced by our algorithm will allow a team of robots to efficiently cover a given set of targets or tasks persistently over long periods of time, even when the cost to transition between tasks is dynamic.

BibTeX

@inproceedings{icra2015_multirobotlongte,
  title = {Multi-robot long-term persistent coverage with fuel constrained robots},
  author = {Derek Mitchell and Micah Corah and Nilanjan Chakraborty and Katia Sycara and Nathan Michael},
  booktitle = {ICRA 2015},
  year = {2015}
}