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Dynamic decentralized area partitioning for cooperating cleaning robots

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2 Author(s)
Jager, M. ; Corporate Technol., Siemens AG, Munich, Germany ; Nebel, B.

If multiple cleaning robots are used to cooperatively clean a larger room, e.g. an airport, the room must be partitioned among the robots. The paper describes a dynamic and decentralized method to partition a certain area among multiple robots. The area is divided into polygons, which are allocated by the robots. After a robot has been allocated a certain polygon, it is responsible for cleaning the polygon. The method described in the paper does not need any global synchronization and does not require a global communication network.

Published in:

Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on  (Volume:4 )

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