1 code implementation • 20 Mar 2024 • Jingtao Tang, Hang Ma
We introduce the Multi-Robot Connected Fermat Spiral (MCFS), a novel algorithmic framework for Multi-Robot Coverage Path Planning (MCPP) that adapts Connected Fermat Spiral (CFS) from the computer graphics community to multi-robot coordination for the first time.
1 code implementation • 17 Dec 2023 • Jingtao Tang, Hang Ma
Existing graph-based MCPP algorithms first compute a tree cover on $G$ -- a forest of multiple trees that cover all vertices -- and then employ the Spanning Tree Coverage (STC) paradigm to generate coverage paths on the decomposed graph $D$ of the terrain graph $G$ by circumnavigating the edges of the computed trees, aiming to optimize the makespan (i. e., the maximum coverage path cost among all robots).
1 code implementation • 30 Jun 2023 • Jingtao Tang, Hang Ma
We investigate time-optimal Multi-Robot Coverage Path Planning (MCPP) for both unweighted and weighted terrains, which aims to minimize the coverage time, defined as the maximum travel time of all robots.
no code implementations • 5 Aug 2022 • Jingtao Tang, Yuan Gao, Tin Lun Lam
In this paper, we focus on the multi-robot coverage path planning (mCPP) problem in large-scale planar areas with random dynamic interferers in the environment, where the robots have limited resources.