Robust coverage by a mobile robot of a planar workspace

Timothy Bretl, Seth Hutchinson

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

Abstract

In this paper, we suggest a new way to plan coverage paths for a mobile robot whose position and velocity are subject to bounded error. Most prior approaches assume a probabilistic model of uncertainty and maximize the expected value of covered area. We assume a worst-case model of uncertainty and - for a particular choice of coverage path - are still able to guarantee complete coverage. We begin by considering the special case in which the region to be covered is a single point. The machinery we develop to express and solve this problem immediately extends to guarantee coverage of a small subset in the workspace. Finally, we use this subset as a sort of virtual coverage implement, achieving complete coverage of the entire workspace by tiling copies of the subset along boustrophedon paths.

Original languageEnglish (US)
Title of host publication2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Pages4582-4587
Number of pages6
DOIs
StatePublished - Nov 14 2013
Event2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe, Germany
Duration: May 6 2013May 10 2013

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2013 IEEE International Conference on Robotics and Automation, ICRA 2013
CountryGermany
CityKarlsruhe
Period5/6/135/10/13

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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