Online Multi-Robot Coverage: Algorithm Comparisons
Pages 1974 - 1976
Abstract
We consider the common assumptions made when multi-robot systems are used for exploration and coverage and the metrics used to compare performance. We then take three algorithms -- the Rolling Dispersion Algorithm (RDA), the Multi-Robot Depth-First-Search (MR-DFS) algorithm, and the BoB algorithm -- chosen for their different strengths and assumptions, and compare, using a set of common metrics, their performance in different simulation environments. We present two simple extensions to RDA -- RDA-MS (multi-start) and RDA-EC (extended communication), which preserve RDA's original assumptions, but are able to perform as well as the algorithms that make more demanding assumptions.
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- Online Multi-Robot Coverage: Algorithm Comparisons
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Published In
July 2018
2312 pages
- General Chairs:
- Elisabeth Andre,
- Sven Koenig,
- Program Chairs:
- Mehdi Dastani,
- Gita Sukthankar
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In-Cooperation
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International Foundation for Autonomous Agents and Multiagent Systems
Richland, SC
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Published: 09 July 2018
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AAMAS '18 Paper Acceptance Rate 149 of 607 submissions, 25%;
Overall Acceptance Rate 1,155 of 5,036 submissions, 23%
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