Robotic adversarial coverage of known environments

Author:

Yehoshua Roi1,Agmon Noa1,Kaminka Gal A1

Affiliation:

1. Computer Science Department, Bar Ilan University, Israel

Abstract

Coverage is a fundamental problem in robotics, where one or more robots are required to visit each point in a target area at least once. Most previous work has concentrated on finding a coverage path that would minimize the coverage time. In this paper, we consider a new and more general version of the problem: adversarial coverage. Here, the robot operates in an environment that contains threats that might stop the robot. The objective is to cover the target area as quickly as possible, while minimizing the probability that the robot will be stopped before completing the coverage. This version of the problem has many real-world applications, from performing coverage missions in hazardous fields such as nuclear power plants, to surveillance of enemy forces in the battlefield and field demining. In this paper, we discuss the offline version of adversarial coverage, in which a map of the threats is given to the robot in advance. First, we formally define the adversarial coverage problem and present different optimization criteria used to evaluate coverage algorithms in adversarial environments. We show that finding an optimal solution to the adversarial coverage problem is [Formula: see text]-hard. We therefore suggest two heuristic algorithms: STAC, a spanning-tree-based coverage algorithm, and GAC, which follows a greedy approach. We establish theoretical bounds on the total risk involved in the coverage paths created by these algorithms and on their lengths. Lastly, we compare the effectiveness of these two algorithms in various environments and settings.

Publisher

SAGE Publications

Subject

Applied Mathematics,Artificial Intelligence,Electrical and Electronic Engineering,Mechanical Engineering,Modelling and Simulation,Software

Cited by 20 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. Spiral complete coverage path planning based on conformal slit mapping in multi-connected domains;The International Journal of Robotics Research;2024-05-10

2. Multi-Robot Heterogeneous Adversarial Coverage;2023 International Symposium on Multi-Robot and Multi-Agent Systems (MRS);2023-12-04

3. Research on the Cleaning Method of Unmanned Sweeper Based on Target Distribution Situation Analysis;Applied Sciences;2023-11-21

4. Competitive Ant Coverage: The Value of Pursuit;2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS);2023-10-01

5. A Task Allocation Method for Multi-AUV Search and Rescue with Possible Target Area;Journal of Marine Science and Engineering;2023-04-10

同舟云学术

1.学者识别学者识别

2.学术分析学术分析

3.人才评估人才评估

"同舟云学术"是以全球学者为主线,采集、加工和组织学术论文而形成的新型学术文献查询和分析系统,可以对全球学者进行文献检索和人才价值评估。用户可以通过关注某些学科领域的顶尖人物而持续追踪该领域的学科进展和研究前沿。经过近期的数据扩容,当前同舟云学术共收录了国内外主流学术期刊6万余种,收集的期刊论文及会议论文总量共计约1.5亿篇,并以每天添加12000余篇中外论文的速度递增。我们也可以为用户提供个性化、定制化的学者数据。欢迎来电咨询!咨询电话:010-8811{复制后删除}0370

www.globalauthorid.com

TOP

Copyright © 2019-2024 北京同舟云网络信息技术有限公司
京公网安备11010802033243号  京ICP备18003416号-3