Towards a fully autonomous and cooperative deployment of multi-robot teams for exploration and coverage in unknown or partially known environments


In this thesis we deal with the problem of navigating a team of robots in both known and unknown environments, so as the mission's objectives to be fulfilled. The structure of this thesis is divided into two main pillars. In the first pillar we deal with the problem of determining an optimal path involving all points of a given area of interest (offline), while avoiding sub-areas with specific characteristics (e.g. obstacles, no-fly zones, etc.). This problem, which is usually referred as multi-robot coverage path planning (mCPP), has been proven to be NP-hard. Currently, existing approaches produce polynomial algorithms that are able to only approximate the minimum covering time. In chapter 3, a novel methodology is proposed, capable of producing such optimal paths in approximately polynomial time. In the heart of the proposed approach lies the DARP algorithm, which divides the terrain into a number of equal areas each corresponding to a specific robot, in such a way to guarantee: com ...
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Alternative title
Πλήρως αυτόνομες και συνεργατικές μέθοδοι για ομάδες ρομπότ με στόχο την εξερεύνηση και κάλυψη αγνώστων ή μερικώς γνωστών περιοχών
Kapoutsis, Athanasios Christos
Degree Grantor
Democritus University of Thrace (DUTH)
Committee members
Κοσματόπουλος Ηλίας
Μπούταλης Ιωάννης
Ροβιθάκης Γεώργιος
Γαστεράτος Αντώνιος
Λαγουδάκης Μιχαήλ
Ρουμελιώτης Στέργιος
Χατζηχριστοφής Σάββας
Engineering & Technology
Electrical Engineering, Electronic Engineering, Information Engineering
Autonomous navigation; Multi-robot teams; Cost function optimization; Multi-robot coverage; Multi-robot mapping; Learning and adaptive system; Minimum coverage paths; Marine robotics
166 σ., im., tbls., fig., ch.
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Το έργο παρέχεται υπό τους όρους της δημόσιας άδειας του νομικού προσώπου Creative Commons Corporation:Creative Commons Αναφορά Δημιουργού Μη εμπορική Χρήση 3.0 Ελλάδα