1. Multi-robot Dubins Coverage with Autonomous Surface Vehicles
- Author
-
Karapetyan, Nare, Moulton, Jason, Lewis, Jeremy S., Li, Alberto Quattrini, O'Kane, Jason M., and Rekleitis, Ioannis
- Subjects
Computer Science - Robotics ,Computer Science - Artificial Intelligence - Abstract
In large scale coverage operations, such as marine exploration or aerial monitoring, single robot approaches are not ideal, as they may take too long to cover a large area. In such scenarios, multi-robot approaches are preferable. Furthermore, several real world vehicles are non-holonomic, but can be modeled using Dubins vehicle kinematics. This paper focuses on environmental monitoring of aquatic environments using Autonomous Surface Vehicles (ASVs). In particular, we propose a novel approach for solving the problem of complete coverage of a known environment by a multi-robot team consisting of Dubins vehicles. It is worth noting that both multi-robot coverage and Dubins vehicle coverage are NP-complete problems. As such, we present two heuristics methods based on a variant of the traveling salesman problem -- k-TSP -- formulation and clustering algorithms that efficiently solve the problem. The proposed methods are tested both in simulations to assess their scalability and with a team of ASVs operating on a lake to ensure their applicability in real world., Comment: In proceedings of IEEE International Conference on Robotics and Automation (ICRA), 2018
- Published
- 2018
- Full Text
- View/download PDF