A survey on multi-robot coverage path planning for model reconstruction and mapping

Randa Almadhoun; Tarek Taha; Lakmal Seneviratne; Yahya Zweiri

doi:10.1007/s42452-019-0872-y

A survey on multi-robot coverage path planning for model reconstruction and mapping

Randa Almadhoun, Tarek Taha, Lakmal Seneviratne, Yahya Zweiri

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Research output: Contribution to journal › Review article › peer-review

108 Scopus citations

Abstract

There has been an increasing interest in researching, developing and deploying multi-robot systems. This has been driven mainly by: the maturity of the practical deployment of a single-robot system and its ability to solve some of the most challenging tasks. Coverage path planning (CPP) is one of the active research topics that could benefit greatly from multi-robot systems. In this paper, we surveyed the research topics related to multi-robot CPP for the purpose of mapping and model reconstructions. We classified the topics into: viewpoints generation approaches; coverage planning strategies; coordination and decision-making processes; communication mechanism and mapping approaches. This paper provides a detailed analysis and comparison of the recent research work in this area, and concludes with a critical analysis of the field, and future research perspectives.

Original language	British English
Article number	847
Journal	SN Applied Sciences
Volume	1
Issue number	8
DOIs	https://doi.org/10.1007/s42452-019-0872-y
State	Published - Aug 2019

Keywords

Coverage path planning
Model reconstruction
Multi robot
Viewpoint sampling

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10.1007/s42452-019-0872-y

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title = "A survey on multi-robot coverage path planning for model reconstruction and mapping",

abstract = "There has been an increasing interest in researching, developing and deploying multi-robot systems. This has been driven mainly by: the maturity of the practical deployment of a single-robot system and its ability to solve some of the most challenging tasks. Coverage path planning (CPP) is one of the active research topics that could benefit greatly from multi-robot systems. In this paper, we surveyed the research topics related to multi-robot CPP for the purpose of mapping and model reconstructions. We classified the topics into: viewpoints generation approaches; coverage planning strategies; coordination and decision-making processes; communication mechanism and mapping approaches. This paper provides a detailed analysis and comparison of the recent research work in this area, and concludes with a critical analysis of the field, and future research perspectives.",

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AU - Seneviratne, Lakmal

AU - Zweiri, Yahya

N1 - Funding Information: This publication is based upon work supported by the Khalifa University of Science and Technology under Award No. RC1-2018-KUCARS Publisher Copyright: © 2019, Springer Nature Switzerland AG.

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KW - Multi robot

KW - Viewpoint sampling

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A survey on multi-robot coverage path planning for model reconstruction and mapping

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Keywords

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