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Multi-Robot Coverage with Reeb Graph Clusteringand Optimized Sweeping Patterns

Szklarski Jacek Tomasz

Computer Assisted Methods in Engineering and Science

2022

Vol. 29, no. 4

379--395

In order to perform mapping, inspecting, searching, painting, cleaning, and other similartasks, mobile robots have to act according to a coverage plan. Finding a trajectory thata robot should follow requires an appropriate coverage path planning (CPP) algorithmand is a non-trivial problem, especially if a cooperating group of robots is considered. Wepropose that the multi-robot CPP can be solved by: decomposing the input occupancygrid map into cells, generating a corresponding Reeb graph, clustering the graph intoNrclusters, and solving the associated equality generalized traveling salesman problemin order to obtain optimal back-and-forth sweeping patterns on the clusters. This laststep has been proven to be one of the most efficient ways to find trajectories for a singlerobot [5]. The discussed approach is motivated by a specific application: industrial cleaningof large warehouses byNrautonomic mobile cleaners (the cleaning radius of a robot ismuch smaller than the area to be cleaned). The total time required for cleaning is to beminimized. By means of statistical analysis, using an extensive, realistic set of syntheticmaps, it is shown that the proposed algorithm meets the criteria for applying it in theproduction process.