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Conference Paper
An Approach of Cleaning a Large Public Space with Multiple Robots
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- Authors
- Seohyun Jeon, Minsu Jang, Daeha Lee, Chang-Eun Lee, Young-Jo Cho
- Issue Date
- 2014-11
- Citation
- International Symposium on Distributed Autonomous Robotic Systems (DARS) 2014, pp.1-2
- Language
- English
- Type
- Conference Paper
- Abstract
- This paper describes the problem of cleaning a large public space with multiple robots based on task reallocation. Resource constraints make cleaning robots stop operation periodically, which can incur a mission failure or deterioration of the mission performance. Two resource constraints are considered in our formulation: the battery capacity and the garbage bin size. In our solution approach, continuous operation is assured by replacing robots having resource problems with standby robots by task reallocation. We describe three task reallocation algorithms:All-At-Once, Optimal-Vector, and Performance-Maximization. The performance is measured by remaining garbage amount, cleaning time, and cleaning quality. Simulation is conducted to test different algorithms, and the Performance-Maximization algorithm marked the best performance.
- KSP Keywords
- Best performance, Cleaning quality, Continuous operation, Mission Failure, Mission performance, Public space, battery capacity, multiple robots, resource constraints