Dynamic Decentralized Area Partitioning for Cooperating Cleaning Robots

If multiple cleaning robots are used to cooperatively clean a larger room, e.g. an airport, the room must be partitioned among the robots. This paper describes a dynamic and decentralized method to partition a certain area among multiple robots. The area is divided into polygons, which are allocated by the robots. After a robot has allocated a certain polygon, it is responsible for cleaning the polygon. The method described in this paper does not need any global synchronization and does not require a global communication network.

• Type: Conference
• Year: 2002
• Where: ICRA
• Authors: Markus Jäger, Bernhard Nebel
• Keywords: Decentralized Method, ICRA 2002, Multiple Cleaning Robots, Multiple Robots, Robotics