The giving tree: constructing trees for efficient offline and online multi-robot coverage

@article{Agmon2008TheGT,
  title={The giving tree: constructing trees for efficient offline and online multi-robot coverage},
  author={Noa Agmon and Noam Hazon and Gal A. Kaminka},
  journal={Annals of Mathematics and Artificial Intelligence},
  year={2008},
  volume={52},
  pages={143-168}
}
This paper discusses the problem of building efficient coverage paths for a team of robots. An efficient multi-robot coverage algorithm should result in a coverage path for every robot, such that the union of all paths generates a full coverage of the terrain and the total coverage time is minimized. A method underlying several coverage algorithms, suggests the use of spanning trees as base for creating coverage paths. However, overall performance of the coverage is heavily dependent on the… CONTINUE READING
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