Coverage, Exploration and Deployment by a Mobile Robot and Communication Network

We consider the problem of coverage and exploration of an unknown dynamic environment using a mobile robot(s). The environment is assumed to be large enough such that constant motion by the robot(s) is needed to cover the environment. We present an efficient minimalist algorithm which assumes that global information is not available (neither a map, nor GPS). Our algorithm deploys a network of radio beacons which assists the robot(s) in coverage. This network is also used for navigation. The deployed network can also be used for applications other than coverage. Simulation experiments are presented which show the collaboration between the deployed network and mobile robot(s) for the tasks of coverage/exploration, network deployment and maintenance (repair), and mobile robot(s) recovery (homing behavior). We present a theoretical basis for our algorithm on graphs and show the results of the simulated scenario experiments.

[1]  Paolo Pirjanian,et al.  Behavior Coordination Mechanisms - State-of-the-art , 1999 .

[2]  Gaurav S. Sukhatme,et al.  Sensor network-based multi-robot task allocation , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[3]  Alan C. Schultz,et al.  Mobile robot exploration and map-building with continuous localization , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[4]  L. Asz Random Walks on Graphs: a Survey , 2022 .

[5]  Maja J. Mataric,et al.  Behaviour-based control: examples from navigation, learning, and group behaviour , 1997, J. Exp. Theor. Artif. Intell..

[6]  László Lovász,et al.  Random Walks on Graphs: A Survey , 1993 .

[7]  J. O'Rourke Art gallery theorems and algorithms , 1987 .

[8]  Gaurav S. Sukhatme,et al.  LOST: localization-space trails for robot teams , 2002, IEEE Trans. Robotics Autom..

[9]  Michael Jenkin,et al.  Robotic exploration as graph construction , 1991, IEEE Trans. Robotics Autom..

[10]  Boleslaw K. Szymanski,et al.  The Complexity of Node Counting on Undirected Graphs , 1998 .

[11]  Gaurav S. Sukhatme,et al.  Mobile Sensor Network Deployment using Potential Fields : A Distributed , Scalable Solution to the Area Coverage Problem , 2002 .

[12]  Reid G. Simmons,et al.  Easy and Hard Testbeds for Real-Time Search Algorithms , 1996, AAAI/IAAI, Vol. 1.

[13]  Gaurav S. Sukhatme,et al.  Sensor coverage using mobile robots and stationary nodes , 2002, SPIE ITCom.

[14]  Douglas W. Gage,et al.  Command Control for Many-Robot Systems , 1992 .

[15]  Sven Koenig,et al.  Complexity Analysis of Real-Time Reinforcement Learning , 1992, AAAI.

[16]  Michael A. Bender,et al.  The power of a pebble: exploring and mapping directed graphs , 1998, STOC '98.

[17]  Gaurav S. Sukhatme,et al.  Spreading Out: A Local Approach to Multi-robot Coverage , 2002, DARS.

[18]  Maja J. Matari,et al.  Behavior-based Control: Examples from Navigation, Learning, and Group Behavior , 1997 .

[19]  Qun Li,et al.  Distributed algorithms for guiding navigation across a sensor network , 2003, MobiCom '03.

[20]  Brian Yamauchi,et al.  A frontier-based approach for autonomous exploration , 1997, Proceedings 1997 IEEE International Symposium on Computational Intelligence in Robotics and Automation CIRA'97. 'Towards New Computational Principles for Robotics and Automation'.

[21]  Alexander Zelinsky,et al.  A mobile robot exploration algorithm , 1992, IEEE Trans. Robotics Autom..