PDF Archive

Easily share your PDF documents with your contacts, on the Web and Social Networks.

Share a file Manage my documents Convert Recover PDF Search Help Contact



MultiRobotAdversarialCoverageAppendix.pdf


Preview of PDF document multirobotadversarialcoverageappendix.pdf

Page 1 2 3 4 5 6 7 8

Text preview


1:

2:
3:
4:
5:
6:
7:
8:
9:
10:
11:
12:
13:
14:
15:
16:
17:
18:
19:
20:

1:
2:
3:
4:
5:

procedure Split Area Between Robots(A, R)
input: A - a connected area, R - the group of robots globals: A - list of
connected areas
Build the graph G induced from the area A’s cells
k ← |R|
Partition Graph(G, k)
Let G1 , G2 , ...Gk be the subgraphs created from the partition
for i ← 1 to k do
Create a subarea Ai
Ai .cells ← the nodes in Gi
Ai .level ← A.level
Add Ai to A
{Compute the safest path of each robot to the sub-area}
for j ← 1 to k do
Pij ← Find Safest Path To Area(Ai , Rj .location)
Cij ← Pij .cost
. the cost matrix
O ← Hungarian Method(C) . O is the optimal assignment of robots to
sub-areas
Oi ← optimal assignment of robot i
for i ← 1 to k do
Ri .path ← POi ,i
Assign Area To Robot(Oi , Ri )
Remove A from A

procedure Assign Area To Robot(A, R)
input: A - a connected area, R - a robot
A.robot ← R
A.state ← Sassigned
R.area ← A
R.state ← Straveling

4