Application of a quadtree-based market-allocation algorithm for cellular environment coverage with cooperative robots

Konstantinos Alexis, Anthony Tzes

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The maximum-area coverage problem over a free time interval with a team of cooperating robots is considered in this article. This area resides in a cellular rectangular environment in which there are obstacles. The robots detect the obstacles during their motion which is constrained in a finite set of maneuvers (left, right, forward, and backward). The uncovered but detected (by the sensors) area is decomposed using the quadtree algorithm and a heuristic search relying on the market-based allocation is employed for dispatching the robots. The efficiency of the suggested algorithm is shown in simulation studies.

Original languageEnglish (US)
Title of host publication2008 Mediterranean Conference on Control and Automation - Conference Proceedings, MED'08
Pages938-945
Number of pages8
DOIs
StatePublished - 2008
Event2008 Mediterranean Conference on Control and Automation, MED'08 - Ajaccio-Corsica, France
Duration: Jun 25 2008Jun 27 2008

Publication series

Name2008 Mediterranean Conference on Control and Automation - Conference Proceedings, MED'08

Other

Other2008 Mediterranean Conference on Control and Automation, MED'08
CountryFrance
CityAjaccio-Corsica
Period6/25/086/27/08

ASJC Scopus subject areas

  • Control and Systems Engineering

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