Peter Stone's Selected Publications

Classified by TopicClassified by Publication TypeSorted by DateSorted by First Author Last NameClassified by Funding Source


Continuous Area Sweeping: A Task Definition and Initial Approach

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

Download

[PDF]186.7kB  [postscript]243.1kB  

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>},
)       

Generated by bib2html.pl (written by Patrick Riley ) on Wed Nov 17, 2021 22:19:02