Patent ID: 7792606
Filing Date: 2010-09-07
Classification: A47L,G05D

Abstract:
1. A method for assigning a part domain of a whole domain which is divided into part domains to one of a plurality of interacting mobile units to process a specific area, comprising: specifying a part domain of the whole domain which is divided into part domains for assignment provisionally to one of the mobile units, wherein the part domains are selected and allocated using a connectivity graph; transmitting to the one of the plurality of mobile units an assignment notification indicating the assignment of the part domain to the one of the mobile units provisionally; making the assignment of the part domain non-provisional if the one of the mobile units does not receive an assignment rejection notification, indicating a rejection of the assignment of the part domain, from at least one other of the plurality of mobile units; notifying the other mobile units when one mobile unit allocates at least one part domain of the whole domain; making the assignment of the part domain invalid if the one of the mobile units receives at least one assignment rejection notification; ensuring each mobile unit has a reserve of part domains to process; allocating additional part domains when the number of part domains to be processed by each mobile unit falls below a specific threshold; selecting a newly allocated part domain adjacent to the part domains which are already allocated; storing in each of the mobile units a local map of the whole domain in which at least validly assigned part domains thereof are identified; and exchanging notifications whenever at least two of the mobile units are within a predeterminable communication distance, and synchronizing local views of the map of the whole domain of the at least two mobile units to develop a common view of the whole domain, whereby global coordination is not required.