Adaptive multi–robot coverage of curved surfaces

Abstract

This paper presents two adaptive coverage algorithms for the deployment of multiple robots into discrete partitions over curved surfaces. The algorithms compute a metric tensor field locally on the surface in order to shape the robots’ partitions in position, size, orientation and aspect ratio according to the present anisotropy. The coverage algorithms are further incorporated into a hybrid coverage method for the complete coverage of surface areas. Each robot iteratively deploys and adapts the partition, then subsequently sweeps its assigned area. The algorithms are demonstrated in simulations on different mesh models, including meshes reconstructed from real laser point cloud data.