BSA-CM: A Multi-robot Coverage Algorithm

This paper presents the development of a multi-robot platform which performs a coverage task based in a multiagent approach. Characteristics and requirements looking for intentional cooperation in a multi-agent system are analyzed, as well as the requirements and strategies to accomplish a multi-robot coverage. BSA-CM is designed as extension of the basic BSA single robot coverage algorithm. The multirobot approach is supported by a negotiation mechanism intended to assign a partial covering task to the best suited robot.