Partitioning strategies for multi-robot area coverage with no communication

Abstract

In this paper, we model topology-based partitioning strategies for multi-robot area coverage with no communication as a balanced graph partitioning problem, which is subject to connectivity and reliability requirements. We formalise it as a combinatorial optimisation problem, propose a generalised formulation that encompasses its most relevant features, and we introduce two variants of the basic problem. Furthermore, we discuss a metaheuristic solution method based on a hybrid Ant Colony Optimisation approach. Finally, the performance of the solution is validated using simulations.