Abstract
Sensor-based coverage problems have many applications such as patrolling, search-rescue, and surveillance. Using multi-robot team increases efficiency by reducing completion time of a sensor-based coverage task. Robustness to robot failures is another advantage of using multiple robots for coverage. Although there are many works to increase the efficiency of coverage methods, there are few works related to robot failures in the literature. In this paper, fault-tolerant control architecture is proposed for sensor-based coverage. Robot failures are detected using the heartbeat strategy. To show the effectiveness of the proposed approach, experiments are conducted using P3-DX mobile robots both in laboratory and simulation environment.
Highlights
Multi-robot sensor-based coverage path planning problem requires that every point in a given area should be covered by at least one member of the robot team using its sensors (Acar et al, 2006)
In (Parlaktuna et al, 2009), an approach based on capacitated arc routing problem (CARP) is proposed and applied to multi-robot sensor-based coverage planning for narrow interior environments
Since the failure can be detected by any robot in the team, the proposed control architecture is distributed in terms of fault detection
Summary
Multi-robot sensor-based coverage path planning problem requires that every point in a given area should be covered by at least one member of the robot team using its sensors (Acar et al, 2006). The proposed algorithm uses CPP/RPP (Chinese Postman Problem/Rural Postman Problem) solving techniques in the initial phase; it partitions the tour among the robots considering their energy capacities. These works intend to increase the efficiency of multirobot coverage problem; but, they do not consider robot failures.
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