formation based multi robot coverage l.
Download
Skip this Video
Loading SlideShow in 5 Seconds..
Formation-Based Multi-Robot Coverage PowerPoint Presentation
Download Presentation
Formation-Based Multi-Robot Coverage

Loading in 2 Seconds...

play fullscreen
1 / 18

Formation-Based Multi-Robot Coverage - PowerPoint PPT Presentation


  • 338 Views
  • Uploaded on

Random Probabilistic Complete Optimal Formation-Based Multi-Robot Coverage Coverage : Determine a path that passes the robot over all points in a target region DeWitt T. Latimer IV, Siddhartha Srinivasa, Vincent Lee-Shue, Samuel Sonne, Aaron Hurst, Howie Choset

loader
I am the owner, or an agent authorized to act on behalf of the owner, of the copyrighted work described.
capcha
Download Presentation

PowerPoint Slideshow about 'Formation-Based Multi-Robot Coverage' - liam


An Image/Link below is provided (as is) to download presentation

Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author.While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server.


- - - - - - - - - - - - - - - - - - - - - - - - - - E N D - - - - - - - - - - - - - - - - - - - - - - - - - -
Presentation Transcript
formation based multi robot coverage

Random Probabilistic Complete Optimal

Formation-Based Multi-Robot Coverage

  • Coverage: Determine a path that passes the robot over all points in a target region

DeWitt T. Latimer IV, Siddhartha Srinivasa, Vincent Lee-Shue, Samuel Sonne, Aaron Hurst, Howie Choset

Carnegie Mellon University

multi robot coverage
Multi-Robot Coverage
  • Assumptions
    • Unknown space
    • Static obstacles
    • Homogenous circular robot
    • No marking capability
    • Common coordinate frame
  • Goals
    • Complete coverage of space
    • Coordinated, yet decentralized, among multiple robots
    • “Minimize” repeat coverage
challenges
Challenges
  • Guaranteeing completeness
    • Single robot: Hert & Lumelsky, Choset & Acar, Cao
    • Multi-robot: Butler, Hollis, and Rizzi
  • Minimize repeat coverage
  • Planning in a multi-dimensional configuration space
    • Balch and Arkin, each robot acts independently
    • Retract methods, Yap, Choset and Burdick, Rao, Kuipers, etc. etc.
  • Space not known a priori
    • Single robot: Hert & Lumelsky, Choset & Acar, Cao
    • Multi-robot: Butler, Hollis, and Rizzi
  • Scalability
sensor based complete coverage
Sensor-based Complete Coverage

Goal: Complete coverage of an unknown environment

Cell decomposition

Incremental construction

Time-exposure photo of a coverage experiment

cover interior of cell one corridor at a time
Cover Interior of Cell (one corridor at a time)
  • Two motions
  • Lapping
  • Wall follow

Wall follow

Lap

critical point sensing
Critical Point Sensing

Non-lead

Look for parallel vectors

during forward wall following,

but after a reverse wall follow,

lap, and then the forward

Look for anti-parallel vectors

during reverse wall following

Rev convex crit. pt

Fwd convex crit. pt

Lead

Look for parallel vectors

during forward wall following

Look for parallel vectors

during reverse wall following

Rev concave crit. pt

Fwd Convex crit. pt

action at critical points
Action at Critical Points

Team divides into two

separate teams, each covering

a new cell

VIRTUAL

FRONTIER

(Butler)

Team finishes cell and then

looks for a new cell to cover

virtual frontier
Virtual Frontier

As an attempt to “minimize” repeat coverage, we use the virtual frontier believing that

another team will be coming from the “other” cell associated with the forward critical point

team rejoining work in progress
Team Rejoining (work in progress)
  • Types of encounters
    • Two teams covering in opposite slice directions
      • Both teams finish the current corridor
    • Two teams covering in same slice direction
      • Both teams finish the current corridor
    • One team covering and the other traversing
      • Since robots only traverse through known space, the covering team stops covering and joins traversing team
    • Two teams encountering each other on the border of two cells (very hard case)
  • Combine adjacency graphs
acknowledgements
Acknowledgements
  • Dave Conner
  • Ercan Acar
  • Tucker Balch
  • Matt Mason and Mike Erdmann
why do the robots jerk back and forth during wall following encountering all critical points
Why do the robots jerk back and forth during wall following?Encountering All Critical Points
  • Conventional back and forth motions are not sufficient
  • (Cao et al.’88, Hert et al.’97, Lumelsky et al.’90)
critical point sensing18
Critical Point Sensing

Look for parallel vectors

during forward wall following,

but after a reverse wall follow,

lap, and then the forward

Look for anti-parallel vectors

during reverse wall following

Look for parallel vectors

during forward wall following

Look for parallel vectors

during reverse wall following