Todd and Tekin

Continuous Area Sweeping: A Task Definition and Initial Approach

Mazda Ahmadi and Peter Stone. Continuous Area Sweeping: A Task Definition and Initial Approach. In The 12th International Conference on Advanced Robotics, July 2005.
Some videos of the robot referenced in the paper.
ICAR 2005

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Abstract

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 continuous 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.

BibTeX Entry

@InProceedings(ICAR05,
author="Mazda Ahmadi and Peter Stone",
title="Continuous Area Sweeping: A Task Definition and Initial Approach",
booktitle="The 12th International Conference on Advanced Robotics",
month="July",year="2005",
abstract={
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 \emph{continuous 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.
},
)

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