TY - GEN
T1 - Battery-constrained coverage
AU - Mishra, Saurabh
AU - Rodriguez, Samuel
AU - Morales, Marco
AU - Amato, Nancy M.
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/11/14
Y1 - 2016/11/14
N2 - In this work, we present a behavioral modeling framework and coverage behavior that accounts for a battery constraint. This framework allows a user to model robot teams performing common robotic tasks such as exploration. It uses roadmap-based methods that identify the available paths in potentially complex environments. We present a coverage strategy that accounts for the available battery. It allows the agent to calculate a path through an environment that maximizes coverage and allows the agent to get back to a charging location. This eliminates the need to decide when to return to a charging location based on a threshold, as related methods do. It considers the actual path length as opposed to Euclidean distance which is generally used for estimating the energy spent in traversing a path. Different path scoring functions are used to score the path generated.
AB - In this work, we present a behavioral modeling framework and coverage behavior that accounts for a battery constraint. This framework allows a user to model robot teams performing common robotic tasks such as exploration. It uses roadmap-based methods that identify the available paths in potentially complex environments. We present a coverage strategy that accounts for the available battery. It allows the agent to calculate a path through an environment that maximizes coverage and allows the agent to get back to a charging location. This eliminates the need to decide when to return to a charging location based on a threshold, as related methods do. It considers the actual path length as opposed to Euclidean distance which is generally used for estimating the energy spent in traversing a path. Different path scoring functions are used to score the path generated.
UR - http://www.scopus.com/inward/record.url?scp=85001022766&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85001022766&partnerID=8YFLogxK
U2 - 10.1109/COASE.2016.7743470
DO - 10.1109/COASE.2016.7743470
M3 - Conference contribution
AN - SCOPUS:85001022766
T3 - IEEE International Conference on Automation Science and Engineering
SP - 695
EP - 700
BT - 2016 IEEE International Conference on Automation Science and Engineering, CASE 2016
PB - IEEE Computer Society
T2 - 2016 IEEE International Conference on Automation Science and Engineering, CASE 2016
Y2 - 21 August 2016 through 24 August 2016
ER -