Multi-Robot Workspace Division Based on Compact Polygon Decomposition Article Swipe
Related Concepts
Workspace
Robot
Division (mathematics)
Computer science
Polygon (computer graphics)
Convex polygon
Sequence (biology)
Regular polygon
Decomposition
Compact space
Algorithm
Artificial intelligence
Mathematics
Telecommunications
Geometry
Biology
Genetics
Frame (networking)
Arithmetic
Pure mathematics
Ecology
Georgy Skorobogatov
,
Cristina Barrado
,
Esther Salamí
·
YOU?
·
· 2021
· Open Access
·
· DOI: https://doi.org/10.1109/access.2021.3134760
· OA: W4205995697
YOU?
·
· 2021
· Open Access
·
· DOI: https://doi.org/10.1109/access.2021.3134760
· OA: W4205995697
In this work, we tackle the problem of multi-robot convex workspace division. We present an algorithm to split a convex area among several robots into the corresponding number of parts based on the area requirements for each part. The core idea of the algorithm is a sequence of divisions into pairs with the lowest possible perimeters. In this way, the compactness of the partitions obtained is maximized. The performance of the algorithm, as well as the quality of the obtained parts, are analyzed in comparison with two different algorithms. The presented approach yields better results in all metrics compared to other algorithms.
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