Multi-Robot Workspace Division Based on Compact Polygon Decomposition
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...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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IEEE
2021-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9646907/ |
| _version_ | 1828406665123201024 |
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| author | Georgy Skorobogatov Cristina Barrado Esther Salami |
| author_facet | Georgy Skorobogatov Cristina Barrado Esther Salami |
| author_sort | Georgy Skorobogatov |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-12-10T11:14:57Z |
| format | Article |
| id | doaj.art-bbbf2174557d473482c99bdbca201af4 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-10T11:14:57Z |
| publishDate | 2021-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-bbbf2174557d473482c99bdbca201af42022-12-22T01:51:14ZengIEEEIEEE Access2169-35362021-01-01916579516580510.1109/ACCESS.2021.31347609646907Multi-Robot Workspace Division Based on Compact Polygon DecompositionGeorgy Skorobogatov0https://orcid.org/0000-0003-2536-1470Cristina Barrado1https://orcid.org/0000-0003-0100-724XEsther Salami2https://orcid.org/0000-0002-4635-2963Computer Architecture Department, Technical University of Catalonia, Castelldefels, SpainComputer Architecture Department, Technical University of Catalonia, Castelldefels, SpainComputer Architecture Department, Technical University of Catalonia, Castelldefels, SpainIn 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.https://ieeexplore.ieee.org/document/9646907/Multirobot systemsworkspace divisionpolygon partition |
| spellingShingle | Georgy Skorobogatov Cristina Barrado Esther Salami Multi-Robot Workspace Division Based on Compact Polygon Decomposition IEEE Access Multirobot systems workspace division polygon partition |
| title | Multi-Robot Workspace Division Based on Compact Polygon Decomposition |
| title_full | Multi-Robot Workspace Division Based on Compact Polygon Decomposition |
| title_fullStr | Multi-Robot Workspace Division Based on Compact Polygon Decomposition |
| title_full_unstemmed | Multi-Robot Workspace Division Based on Compact Polygon Decomposition |
| title_short | Multi-Robot Workspace Division Based on Compact Polygon Decomposition |
| title_sort | multi robot workspace division based on compact polygon decomposition |
| topic | Multirobot systems workspace division polygon partition |
| url | https://ieeexplore.ieee.org/document/9646907/ |
| work_keys_str_mv | AT georgyskorobogatov multirobotworkspacedivisionbasedoncompactpolygondecomposition AT cristinabarrado multirobotworkspacedivisionbasedoncompactpolygondecomposition AT esthersalami multirobotworkspacedivisionbasedoncompactpolygondecomposition |