It is a circular zone similar to the footprint of a robot in which the robot can carry out some task. The radius is known as sensing radius which is much smaller than the visibility radius of the robot. A robot can cover only its sensing region but can view up to its visibility range from its current position.
Published in Chapter:
Techniques in Multi-Robot Area Coverage: A Comparative Survey
Deepanwita Das (National Institute of Technology, Durgapur, India), Srabani Mukhopadhyaya (Birla Institute of Technology, Mesra, Kolkata Campus, India), and Debashis Nandi (Department of Information Technology, National Institute of Technology, Durgapur, India)
Copyright: © 2016
|Pages: 25
DOI: 10.4018/978-1-4666-9572-6.ch027
Abstract
Swarm of mobile robots is actually a large number of small robots imitating the behavior of social insects that perform certain tasks in a group. This chapter considers the problem of area coverage by a swarm of mobile robots. Initially, the robots occupy random positions in a target area. The objective is to physically cover/scan each accessible location of that area by at least one robot of the swarm. After discussing, in brief, different models and their challenges this chapter summarizes the research works carried out to solve this problem. The existing literature is classified into two categories, namely, team based approach and individual approach. The pros and cons of both the approaches are indicated and finally a comparative study of the addressed works in terms of computational model, synchrony, characteristics of robots, etc. is presented.