.png){kind=icon}
.png){kind=icon}
Return
Multi-Robot Workspace Division Based on Compact Polygon Decomposition
.png){kind=icon}
OA
AI
DOI：10.1109/ACCESS.2021.3134760.png)
.png){kind=icon}
Original request for help.png){kind=icon}
Share.png){kind=icon}
Save
Abstract
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.
Keywords:
Partitioning algorithms
Robots
Head
Task analysis
Licenses
Multi-robot systems
Mathematical models
Multirobot systems
workspace division
polygon partition
Journal
IF:
3.6
Papers:
9.8W
Citations:
29.4W