Web Intelligence and Intelligent Agent Technology, IEEE/WIC/ACM International Conference on (2009)
Sept. 15, 2009 to Sept. 18, 2009
This paper presents the development of a multi-robot platform which performs a coverage task based in a multiagent approach. Characteristics and requirements looking for intentional cooperation in a multi-agent system are analyzed, as well as the requirements and strategies to accomplish a multi-robot coverage. BSA-CM is designed as extension of the basic BSA single robot coverage algorithm. The multirobot approach is supported by a negotiation mechanism intended to assign a partial covering task to the best suited robot.
Mobile robots, Cooperative systems, Covering, Mapping, Mobile robot motion-planning
E. Gerlein, E. Gonzalez, "BSA-CM: A Multi-robot Coverage Algorithm", Web Intelligence and Intelligent Agent Technology, IEEE/WIC/ACM International Conference on, vol. 02, no. , pp. 383-386, 2009, doi:10.1109/WI-IAT.2009.182