Peter Stone's Selected Publications

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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.
                },
        wwwnote={Some <a href="http://www.cs.utexas.edu/users/AustinVilla/?p=research/surveillance">videos of the robot</a> referenced in the paper.<br>
       <a href="http://www.icar2005.org/">ICAR 2005</a>},
)       

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