Towards an Optimal Footprint Based Area Coverage Strategy for a False-Ceiling Inspection Robot Article Swipe
Thejus Pathmakumar
,
Vinu Sivanantham
,
Saurav Ghante Anantha Padmanabha
,
Mohan Rajesh Elara
,
Thein Than Tun
·
YOU?
·
· 2021
· Open Access
·
· DOI: https://doi.org/10.3390/s21155168
YOU?
·
· 2021
· Open Access
·
· DOI: https://doi.org/10.3390/s21155168
False-ceiling inspection is a critical factor in pest-control management within a built infrastructure. Conventionally, the false-ceiling inspection is done manually, which is time-consuming and unsafe. A lightweight robot is considered a good solution for automated false-ceiling inspection. However, due to the constraints imposed by less load carrying capacity and brittleness of false ceilings, the inspection robots cannot rely upon heavy batteries, sensors, and computation payloads for enhancing task performance. Hence, the strategy for inspection has to ensure efficiency and best performance. This work presents an optimal functional footprint approach for the robot to maximize the efficiency of an inspection task. With a conventional footprint approach in path planning, complete coverage inspection may become inefficient. In this work, the camera installation parameters are considered as the footprint defining parameters for the false ceiling inspection. An evolutionary algorithm-based multi-objective optimization framework is utilized to derive the optimal robot footprint by minimizing the area missed and path-length taken for the inspection task. The effectiveness of the proposed approach is analyzed using numerical simulations. The results are validated on an in-house developed false-ceiling inspection robot—Raptor—by experiment trials on a false-ceiling test-bed.
Related Topics
Concepts
Metadata
- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.3390/s21155168
- OA Status
- gold
- Cited By
- 9
- References
- 44
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W3192244623
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W3192244623Canonical identifier for this work in OpenAlex
- DOI
-
https://doi.org/10.3390/s21155168Digital Object Identifier
- Title
-
Towards an Optimal Footprint Based Area Coverage Strategy for a False-Ceiling Inspection RobotWork title
- Type
-
articleOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2021Year of publication
- Publication date
-
2021-07-30Full publication date if available
- Authors
-
Thejus Pathmakumar, Vinu Sivanantham, Saurav Ghante Anantha Padmanabha, Mohan Rajesh Elara, Thein Than TunList of authors in order
- Landing page
-
https://doi.org/10.3390/s21155168Publisher landing page
- Open access
-
YesWhether a free full text is available
- OA status
-
goldOpen access status per OpenAlex
- OA URL
-
https://doi.org/10.3390/s21155168Direct OA link when available
- Concepts
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Ceiling (cloud), Footprint, Robot, Computer science, Task (project management), Simulation, Reliability engineering, Real-time computing, Engineering, Artificial intelligence, Structural engineering, Systems engineering, Biology, PaleontologyTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
9Total citation count in OpenAlex
- Citations by year (recent)
-
2025: 1, 2023: 5, 2022: 2, 2021: 1Per-year citation counts (last 5 years)
- References (count)
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44Number of works referenced by this work
- Related works (count)
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10Other works algorithmically related by OpenAlex
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