Coverage control for a mobile robot patrolling a dynamic and uncertain environment

@article{Guo2004CoverageCF,
  title={Coverage control for a mobile robot patrolling a dynamic and uncertain environment},
  author={Yi Tai Guo and Zhihua Qu},
  journal={Fifth World Congress on Intelligent Control and Automation (IEEE Cat. No.04EX788)},
  year={2004},
  volume={6},
  pages={4899-4903 Vol.6}
}
In mobile robot applications such as cleaning and security patrolling, a fundamentally important problem is to design feasible trajectories and steering control so that the robot moves collision-free and covers all the points (in its sensor/effector range) in a dynamic and uncertain environment. We formulate such a problem and propose constructive algorithms in sequential modules to solve it. First, a minimum-area rectangle is placed encasing the boundary of the set to be covered. Second… CONTINUE READING
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