TY - GEN
T1 - Decentralized area partitioning for a cooperative cleaning task
AU - Kato, Chihiro
AU - Sugawara, Toshiharu
PY - 2013
Y1 - 2013
N2 - We describe a method for decentralized task/area partitioning for coordination in cleaning domains. Ongoing advances in computer science and robotics lead to robot applications for large areas that require coordinated tasks by multiple robots. We focused on a cleaning task to be performed by multiple robots with potentially different performances and developed a method for partitioning the target area to improve the overall efficiency through their balanced collective efforts. Agents autonomously decide how the task/area is to be partitioned by taking into account the characteristics of the environments. Experiments showed that the proposed method can adaptively partition the area among the agents so that they can keep it clean effectively and evenly.
AB - We describe a method for decentralized task/area partitioning for coordination in cleaning domains. Ongoing advances in computer science and robotics lead to robot applications for large areas that require coordinated tasks by multiple robots. We focused on a cleaning task to be performed by multiple robots with potentially different performances and developed a method for partitioning the target area to improve the overall efficiency through their balanced collective efforts. Agents autonomously decide how the task/area is to be partitioned by taking into account the characteristics of the environments. Experiments showed that the proposed method can adaptively partition the area among the agents so that they can keep it clean effectively and evenly.
UR - http://www.scopus.com/inward/record.url?scp=84893135444&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84893135444&partnerID=8YFLogxK
U2 - 10.1007/978-3-642-44927-7_36
DO - 10.1007/978-3-642-44927-7_36
M3 - Conference contribution
AN - SCOPUS:84893135444
SN - 9783642449260
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 470
EP - 477
BT - PRIMA 2013
T2 - 16th International Conference on Principles and Practice of Multi-Agent Systems, PRIMA 2013
Y2 - 1 December 2013 through 6 December 2013
ER -