Area Partitioning Method with Learning of Dirty Areas and Obstacles in Environments for Cooperative Sweeping Robots

Sea Vourchteang, Toshiharu Sugawara

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    2 Citations (Scopus)

    Abstract

    In this paper, we introduce an extended performance-based partitioning method for the cooperative cleaning domain in the environment with obstacles. Due to ongoing advances in technology, robotic applications have been crucial for large and complicated areas that require cooperation and coordination in task operations by multiple robots. Therefore, our research has focused on methods for cooperation/coordination of multiple agents, which are the control programs of robots, using examples of cleaning tasks by multiple robots. Our proposed method partitions target area in a bottom-up manner, according to the characteristics of environments by identifying where are easy to be dirty, so that agents can clean their responsible areas effectively and evenly. Specifically, it also has included the learning to identify the shapes and the locations of obstacles in the environments via the steps of cleaning tasks because the shapes of obstacles affect the work performance. Our experiments showed that it could partition their responsible areas autonomously and effectively by taking into consideration the environmental characteristics. We also indicated that it could achieve efficient task operations in a more balanced manner by comparing these results with those by the conventional methods which assumed that the area is divided into equal-size sub areas and/or the environmental characteristics are given in advance.

    Original languageEnglish
    Title of host publicationProceedings - 2015 IIAI 4th International Congress on Advanced Applied Informatics, IIAI-AAI 2015
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages523-529
    Number of pages7
    ISBN (Print)9781479999583
    DOIs
    Publication statusPublished - 2016 Jan 6
    Event4th IIAI International Congress on Advanced Applied Informatics, IIAI-AAI 2015 - Okayama, Japan
    Duration: 2015 Jul 122015 Jul 16

    Other

    Other4th IIAI International Congress on Advanced Applied Informatics, IIAI-AAI 2015
    CountryJapan
    CityOkayama
    Period15/7/1215/7/16

    Fingerprint

    Cleaning
    Robots
    Robotics
    Experiments

    Keywords

    • Autonomous graph partition
    • Cooperation
    • Dirt accumulation
    • Learning
    • Multiple robots
    • Obstacle

    ASJC Scopus subject areas

    • Information Systems
    • Computer Networks and Communications
    • Computer Science Applications
    • Computer Vision and Pattern Recognition

    Cite this

    Vourchteang, S., & Sugawara, T. (2016). Area Partitioning Method with Learning of Dirty Areas and Obstacles in Environments for Cooperative Sweeping Robots. In Proceedings - 2015 IIAI 4th International Congress on Advanced Applied Informatics, IIAI-AAI 2015 (pp. 523-529). [7373964] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IIAI-AAI.2015.261

    Area Partitioning Method with Learning of Dirty Areas and Obstacles in Environments for Cooperative Sweeping Robots. / Vourchteang, Sea; Sugawara, Toshiharu.

    Proceedings - 2015 IIAI 4th International Congress on Advanced Applied Informatics, IIAI-AAI 2015. Institute of Electrical and Electronics Engineers Inc., 2016. p. 523-529 7373964.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Vourchteang, S & Sugawara, T 2016, Area Partitioning Method with Learning of Dirty Areas and Obstacles in Environments for Cooperative Sweeping Robots. in Proceedings - 2015 IIAI 4th International Congress on Advanced Applied Informatics, IIAI-AAI 2015., 7373964, Institute of Electrical and Electronics Engineers Inc., pp. 523-529, 4th IIAI International Congress on Advanced Applied Informatics, IIAI-AAI 2015, Okayama, Japan, 15/7/12. https://doi.org/10.1109/IIAI-AAI.2015.261
    Vourchteang S, Sugawara T. Area Partitioning Method with Learning of Dirty Areas and Obstacles in Environments for Cooperative Sweeping Robots. In Proceedings - 2015 IIAI 4th International Congress on Advanced Applied Informatics, IIAI-AAI 2015. Institute of Electrical and Electronics Engineers Inc. 2016. p. 523-529. 7373964 https://doi.org/10.1109/IIAI-AAI.2015.261
    Vourchteang, Sea ; Sugawara, Toshiharu. / Area Partitioning Method with Learning of Dirty Areas and Obstacles in Environments for Cooperative Sweeping Robots. Proceedings - 2015 IIAI 4th International Congress on Advanced Applied Informatics, IIAI-AAI 2015. Institute of Electrical and Electronics Engineers Inc., 2016. pp. 523-529
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