Area coverage is one of the emerging problems in multi-robot coordination. In this task a team of robots is cooperatively trying to observe or sweep an entire area, possibly containing obstacles, with their sensors or actuators. The goal is to build an efficient path for each robot which jointly

Abstract. Two algorithms for area coverage (for use in space applications) were evaluated using a simulator and then tested on a multi-robot society consisting of LEGO Mindstorms robots. The two algorithms are (i) a vector force based implementation and (ii) a machine learning approach. The second

-deployment; i.e., starting from some compact initial configuration, the nodes in the network can spread out such that the area `covered' by the network is maximized. In this paper, we present a potential-field-based approach to deployment. The fields are constructed such that each node is repelled by both

This paper presents an approach allowing a team of robots each with limited visibility to cover an area in the presence of different types of static obstacles. We introduce Reduced-CDT, an environment representation method based on Constrained Delaunay Triangulation. A new graph segmentation method

We propose several localized sensor area coverage protocols, for arbitrary ratio of sensing and transmission radii. Sensors are assumed to be time synchronized, and active sensors are determined at the beginning of each round. The approach has a very small communication overhead since prior

We address the problem of repeated coverage of a target area, of any polygonal shape, by a team of robots having a limited visual range. Three distributed Cluster-based algorithms, and a method called Cyclic Coverage are introduced for the problem. The goal is to evaluate the performance

, thus using less energy. Such a dynamic topology should not impact the monitoring activity. Area coverage protocols aim at turning off redundant sensor nodes while ensuring full coverage of the area by the remaining active nodes. Providing k-area coverage therefore means that every physical point

Abstract — We consider the problem of activity scheduling and area coverage in sensor networks, and especially focus on problems that arise when using a more realistic physical layer. Indeed, most of the previous work in this area has been studied within an ideal environment, where messages

An investigation of the relationship between percentage area coverage and ink film trapping

by an equivalent coverage process. Properties of both area coverage and path coverage are well known in the literature for homogeneous sensor deploy-ments. We study two models where the sensor nodes are deployed according to a stationary Cox point process and a non homogeneous Poisson point process respectively