Abstract-This paper revisits the multi-robot boundary coverage problem in which a group of k robots must inspect every point on the boundary of a 2-dimensional environment. We focus on the case in which revision of the original inspection plan may be necessary due to changes in the robot team size or the environment. Building upon prior work, which presented a graph-based approach to path planning for this problem, we present a graph representation of the task that is greatly reduced in complexity and a path revision algorithm appropriate for addressing such changes.
In REF , the authors present a heuristic for the multi-robot boundary coverage problem.
Multi-robot boundary coverage with plan revision
Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.
Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.
Computer Science Engineering