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FAST: Synchronous Frontier Allocation for Scalable Online Multi-Robot Terrain Coverage

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dc.contributor.author Gautam, Avinash
dc.contributor.author Mohan, Sudeept
dc.date.accessioned 2023-01-04T10:21:08Z
dc.date.available 2023-01-04T10:21:08Z
dc.date.issued 2017-09
dc.identifier.uri https://link.springer.com/article/10.1007/s10846-016-0416-2
dc.identifier.uri http://dspace.bits-pilani.ac.in:8080/xmlui/handle/123456789/8302
dc.description.abstract We propose Frontier Allocation Synchronized by Token passing (FAST), a distributed algorithm for online terrain coverage using multiple mobile robots, ensuring mutually exclusive selection of frontier cells. Many existing approaches cover the terrain in an irregular fashion, without considering the usability of the already covered region. For instance, in the task of floor cleaning in an office building, these approaches do not guarantee the cleanliness of large unbroken areas until a majority of the task is complete. FAST on the other hand, incrementally traverses the terrain generating structured trajectories for each robot. Following a structured trajectory for coverage path planning is proven to be a very powerful approach in literature. This renders large portions of the terrain usable even before the completion of the coverage task. The novel map representation techniques used in FAST render it scalable to large terrains, without affecting the volume of communication among robots. Moreover, the distributed nature of FAST allows incorporation of fault-tolerance mechanisms. en_US
dc.language.iso en en_US
dc.publisher Springer en_US
dc.subject Computer Science en_US
dc.subject Terrain coverage en_US
dc.subject Frontier based coverage en_US
dc.subject Multi-robot systems en_US
dc.subject Networked and cooperative robotics en_US
dc.subject Fault tolerance en_US
dc.title FAST: Synchronous Frontier Allocation for Scalable Online Multi-Robot Terrain Coverage en_US
dc.type Article en_US


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