Peter Stone's Selected Publications

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A Multi-Robot System for Continuous Area Sweeping Tasks

Mazda Ahmadi and Peter Stone. A Multi-Robot System for Continuous Area Sweeping Tasks. In Proceedings of the IEEE International Conference on Robotics and Automation, pp. 1724–1729, May 2006.
Some videos of the robot referenced in the paper.
ICRA 2006

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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 group of robots must repeatedly visit all points in a fixed area, possibly with non-uniform frequency, as specified by a task-dependent cost function. Examples of problems that need continuous area sweeping are trash removal in a large building and routine surveillance. In our previous work we have introduced a single-robot approach to this problem. In this paper, we extend that approach to multi-robot scenarios. The focus of this paper is adaptive and decentralized task assignment in continuous area sweeping problems, with the aim of ensuring stability in environments with dynamic factors, such as robot malfunctions or the addition of new robots to the team. Our proposed negotiation-based approach is fully implemented and tested both in simulation and on physical robots.

BibTeX Entry

@InProceedings(ICRA06,
	author="Mazda Ahmadi and Peter Stone",
	title="A Multi-Robot System for Continuous Area Sweeping Tasks",
        booktitle="Proceedings of the {IEEE} International Conference on Robotics and Automation",
	pages="1724--1729",
        month="May",year="2006",
        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
                  group of robots must repeatedly visit all points in
                  a fixed area, possibly with non-uniform frequency,
                  as specified by a task-dependent cost
                  function. Examples of problems that need continuous
                  area sweeping are trash removal in a large building
                  and routine surveillance.  In our previous work we
                  have introduced a single-robot approach to this
                  problem. In this paper, we extend that approach to
                  multi-robot scenarios. The focus of this paper is
                  adaptive and decentralized task assignment in
                  continuous area sweeping problems, with the aim of
                  ensuring stability in environments with dynamic
                  factors, such as robot malfunctions or the addition
                  of new robots to the team.  Our proposed
                  negotiation-based approach is fully implemented and
                  tested both in simulation and on physical robots.
                 },
        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.icra2006.org/">ICRA 2006</a>},
)

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