Continuous Area Sweeping: A Task Definition and Initial Approach (2005)
As mobile robots become increasingly autonomous over extended periods of time, opportunities arise for their use on repetitive tasks. We define and implement behaviors for a class of such tasks that we call emphcontinuous area sweeping tasks. A continuous area sweeping task is one in which a robot (or group of robots) must repeatedly visit all points in a fixed area, possibly with non-uniform frequency, as specified by a task-dependent performance criterion. Examples of problems that need continuous area sweeping are trash removal in a large building and routine surveillance. We present a formulation for this problem and an initial algorithm to address it. The approach is analyzed analytically and is fully implemented and tested, both in simulation and on a physical robot.
In The 12th International Conference on Advanced Robotics, July 2005.

Mazda Ahmadi Formerly affiliated Ph.D. Student mazda [at] cs utexas edu
Peter Stone Faculty pstone [at] cs utexas edu