Pseudo Spanning Tree-based Complete and Competitive Robot Coverage using Virtual Nodes
In this paper, we propose a new robot coverage algorithm using approximate cellular decomposition. The algorithm uses spanning tree on adjacency graph formed by the decomposed cells. We introduce a concept of a virtual node corresponding to a partially occupied cell, leading to a pseudo spanning tre...
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| Published in | IFAC-PapersOnLine Vol. 49; no. 1; pp. 195 - 200 |
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| Main Authors | , |
| Format | Journal Article |
| Language | English |
| Published |
Elsevier Ltd
2016
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| Subjects | |
| Online Access | Get full text |
| ISSN | 2405-8963 2405-8971 2405-8963 |
| DOI | 10.1016/j.ifacol.2016.03.052 |
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| Abstract | In this paper, we propose a new robot coverage algorithm using approximate cellular decomposition. The algorithm uses spanning tree on adjacency graph formed by the decomposed cells. We introduce a concept of a virtual node corresponding to a partially occupied cell, leading to a pseudo spanning tree. Unlike the existing approximate cellular decomposition based coverage algorithms reported in the literature, the proposed algorithm ensures complete coverage of even partially occupied cells, with minimal (or no) overlapping/retracing of the path. The algorithm is illustrated using examples comparing its coverage performance with that of the STC and Competitive-STC algorithms, two spanning tree based coverage algorithms using approximate cellular decomposition reported in the literature. |
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| AbstractList | In this paper, we propose a new robot coverage algorithm using approximate cellular decomposition. The algorithm uses spanning tree on adjacency graph formed by the decomposed cells. We introduce a concept of a virtual node corresponding to a partially occupied cell, leading to a pseudo spanning tree. Unlike the existing approximate cellular decomposition based coverage algorithms reported in the literature, the proposed algorithm ensures complete coverage of even partially occupied cells, with minimal (or no) overlapping/retracing of the path. The algorithm is illustrated using examples comparing its coverage performance with that of the STC and Competitive-STC algorithms, two spanning tree based coverage algorithms using approximate cellular decomposition reported in the literature. |
| Author | Guruprasad, K.R. Ranjitha, T.D. |
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| Cites_doi | 10.1109/IROS.2014.6942969 10.1023/A:1016639210559 10.1016/S0925-7721(02)00110-4 10.1016/j.robot.2013.09.004 10.1023/A:1008958800904 10.1023/A:1016610507833 10.1109/ROBOT.2005.1570413 10.1007/s10514-013-9364-x |
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| Keywords | Coverage path planning robot motion planning Pseudo spanning tree |
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| References | Guruprasad, K.R. and Ranjitha, T.D. (2015). CCSTC: A truely complete competitive spanning tree coverage algorithm for mobile robots. In Choset (bib0002) 2001; 31 2950-2956. IEEE. Gabriely, Rimon (bib0003) 2001; 31 Strimel, G.P. and Veloso, M.M. (2014). Coverage planning with finite resources. In Gonzalez, Alvarez, Diaz, Parra, Bustacara (bib0006) 2005 Choset (bib0001) 2000; 9 Gabriely, Rimon (bib0004) 2003; 24 Galceran, Carreras (bib0005) 2013; 61 Xu, Viriyasuthee, Rekleitis (bib0009) 2014; 36 10.1016/j.ifacol.2016.03.052_bib0008 10.1016/j.ifacol.2016.03.052_bib0007 Xu (10.1016/j.ifacol.2016.03.052_bib0009) 2014; 36 Gabriely (10.1016/j.ifacol.2016.03.052_bib0003) 2001; 31 Galceran (10.1016/j.ifacol.2016.03.052_bib0005) 2013; 61 Gabriely (10.1016/j.ifacol.2016.03.052_bib0004) 2003; 24 Choset (10.1016/j.ifacol.2016.03.052_bib0001) 2000; 9 Choset (10.1016/j.ifacol.2016.03.052_bib0002) 2001; 31 Gonzalez (10.1016/j.ifacol.2016.03.052_bib0006) 2005 |
| References_xml | – volume: 9 start-page: 247 year: 2000 end-page: 253 ident: bib0001 article-title: Coverage of known spaces: the boustrophe-don cellular decomposition publication-title: Autonomous Robots – volume: 31 start-page: 77 year: 2001 end-page: 98 ident: bib0003 article-title: Spanning-tree based coverage of continuous areas by a mobile robot publication-title: Annals of Mathematics and Artificial Intelligence – reference: Guruprasad, K.R. and Ranjitha, T.D. (2015). CCSTC: A truely complete competitive spanning tree coverage algorithm for mobile robots. In – start-page: 2040 year: 2005 end-page: 2044 ident: bib0006 article-title: BSA: a complete coverage algorithm publication-title: Proc of the IEEE International Conference on Robotics and Automation – reference: Strimel, G.P. and Veloso, M.M. (2014). Coverage planning with finite resources. In – volume: 24 start-page: 197 year: 2003 end-page: 224 ident: bib0004 article-title: Competitive on-line coverage of grid environments by a mobile robot publication-title: Computational Geometry – volume: 61 start-page: 1258 year: 2013 end-page: 1276 ident: bib0005 article-title: A survey on coverage path planning for robotics publication-title: Robotics and Autonomous Systems – reference: , 2950-2956. IEEE. – volume: 36 start-page: 365 year: 2014 end-page: 381 ident: bib0009 article-title: Efficient complete coverage of a known arbitrary environment with applications to aerial operations publication-title: Autonomous Robots – volume: 31 start-page: 113 year: 2001 end-page: 126 ident: bib0002 article-title: Coverage for robotics-a survey of recent results publication-title: Annals of mathematics and artificial intelligence – ident: 10.1016/j.ifacol.2016.03.052_bib0008 doi: 10.1109/IROS.2014.6942969 – volume: 31 start-page: 113 issue: 1-4 year: 2001 ident: 10.1016/j.ifacol.2016.03.052_bib0002 article-title: Coverage for robotics-a survey of recent results publication-title: Annals of mathematics and artificial intelligence doi: 10.1023/A:1016639210559 – volume: 24 start-page: 197 issue: 3 year: 2003 ident: 10.1016/j.ifacol.2016.03.052_bib0004 article-title: Competitive on-line coverage of grid environments by a mobile robot publication-title: Computational Geometry doi: 10.1016/S0925-7721(02)00110-4 – ident: 10.1016/j.ifacol.2016.03.052_bib0007 – volume: 61 start-page: 1258 issue: 12 year: 2013 ident: 10.1016/j.ifacol.2016.03.052_bib0005 article-title: A survey on coverage path planning for robotics publication-title: Robotics and Autonomous Systems doi: 10.1016/j.robot.2013.09.004 – volume: 9 start-page: 247 issue: 3 year: 2000 ident: 10.1016/j.ifacol.2016.03.052_bib0001 article-title: Coverage of known spaces: the boustrophe-don cellular decomposition publication-title: Autonomous Robots doi: 10.1023/A:1008958800904 – volume: 31 start-page: 77 issue: 1-4 year: 2001 ident: 10.1016/j.ifacol.2016.03.052_bib0003 article-title: Spanning-tree based coverage of continuous areas by a mobile robot publication-title: Annals of Mathematics and Artificial Intelligence doi: 10.1023/A:1016610507833 – start-page: 2040 year: 2005 ident: 10.1016/j.ifacol.2016.03.052_bib0006 article-title: BSA: a complete coverage algorithm publication-title: Proc of the IEEE International Conference on Robotics and Automation doi: 10.1109/ROBOT.2005.1570413 – volume: 36 start-page: 365 issue: 4 year: 2014 ident: 10.1016/j.ifacol.2016.03.052_bib0009 article-title: Efficient complete coverage of a known arbitrary environment with applications to aerial operations publication-title: Autonomous Robots doi: 10.1007/s10514-013-9364-x |
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| SubjectTerms | Coverage path planning Pseudo spanning tree robot motion planning |
| Title | Pseudo Spanning Tree-based Complete and Competitive Robot Coverage using Virtual Nodes |
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