Scalable Coverage Path Planning of Multi-Robot Teams for Monitoring Non-Convex Areas
Leighton Collins Payam Ghassemi Ehsan T. Esfahani David Doermann Karthik Dantu Souma Chowdhury Leighton Collins Payam Ghassemi Ehsan T. Esfahani David Doermann Karthik Dantu Souma Chowdhury
This paper presents a novel multi-robot coverage path planning (CPP) algorithm - aka SCoPP - that provides a time-efficient solution, with workload balanced plans for each robot in a multi-robot system, based on their initial states. This algorithm accounts for discontinuities (e.g., no-fly zones) in a specified area of interest, and provides an optimized ordered list of way-points per robot using...