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...
