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Computer Science > Robotics

arXiv:2108.04632 (cs)
[Submitted on 10 Aug 2021]

Title:MSTC*:Multi-robot Coverage Path Planning under Physical Constraints

Authors:Jingtao Tang, Chun Sun, Xinyu Zhang
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Abstract:For large-scale tasks, coverage path planning (CPP) can benefit greatly from multiple robots. In this paper, we present an efficient algorithm MSTC* for multi-robot coverage path planning (mCPP) based on spiral spanning tree coverage (Spiral-STC). Our algorithm incorporates strict physical constraints like terrain traversability and material load capacity. We compare our algorithm against the state-of-the-art in mCPP for regular grid maps and real field terrains in simulation environments. The experimental results show that our method significantly outperforms existing spiral-STC based mCPP methods. Our algorithm can find a set of well-balanced workload distributions for all robots and therefore, achieve the overall minimum time to complete the coverage.
Comments: To be appeared in ICRA 2021
Subjects: Robotics (cs.RO)
Cite as: arXiv:2108.04632 [cs.RO]
  (or arXiv:2108.04632v1 [cs.RO] for this version)
  https://doi.org/10.48550/arXiv.2108.04632

Submission history

From: Jing Tao Tang [view email]
[v1] Tue, 10 Aug 2021 12:32:44 UTC (4,213 KB)
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