Multi-robot long-term persistent coverage with fuel constrained robots

  title={Multi-robot long-term persistent coverage with fuel constrained robots},
  author={Derek Mitchell and Micah Corah and Nilanjan Chakraborty and Katia P. Sycara and Nathan Michael},
  journal={2015 IEEE International Conference on Robotics and Automation (ICRA)},
In this paper, we present an algorithm to solve the Multi-Robot Persistent Coverage Problem (MRPCP). Here, we seek to compute a schedule that will allow a fleet of agents to visit all targets of a given set while maximizing the frequency of visitation and maintaining a sufficient fuel capacity by refueling at depots. We also present a heuristic method to allow us to compute bounded suboptimal results in real time. The results produced by our algorithm will allow a team of robots to efficiently… CONTINUE READING
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