.png){kind=icon}
返回
Multi-Robot Workspace Division Based on Compact Polygon Decomposition
.png){kind=icon}
OA
AI
DOI：10.1109/ACCESS.2021.3134760.png)
.png){kind=icon}
原文求助.png){kind=icon}
分享.png){kind=icon}
收藏
摘要
En 中文
In this work, we tackle the problem of multi-robot convex workspace division. We present an algorithm to split a convex area among several robots into the corresponding number of parts based on the area requirements for each part. The core idea of the algorithm is a sequence of divisions into pairs with the lowest possible perimeters. In this way, the compactness of the partitions obtained is maximized. The performance of the algorithm, as well as the quality of the obtained parts, are analyzed in comparison with two different algorithms. The presented approach yields better results in all metrics compared to other algorithms.
Keyword:
Partitioning algorithms
Robots
Head
Task analysis
Licenses
Multi-robot systems
Mathematical models
Multirobot systems
workspace division
polygon partition
期刊
IF:
3.6
论文数:
9.8W
被引数:
29.4W
机构
引用论文
DARP: Divide Areas Algorithm for Optimal Multi-Robot Coverage Path PlanningDARP: 多机器人最优覆盖路径规划的区域划分算法
OAAI
.png){kind=icon}
OAAI分享收藏Structured triangulation in multi-robot systems: Coverage, patrolling, Voronoi partitions, and geodesic centers多机器人系统中的结构化三角剖分: 覆盖，巡逻，Voronoi分区和测地中心
PREAI
分享收藏分享收藏
查看更多内容