X. Zheng, S. Jain, S. Koenig and D. Kempe. Multi-Robot Forest Coverage. In IEEE International Conference on Intelligent Robots and Systems (IROS), pages 2318-2323, 2005.

Abstract: One of the main applications of mobile robots is terrain coverage: visiting each location in known terrain. Terrain coverage is crucial for lawn mowing, cleaning, harvesting, search-and-rescue, intrusion detection and mine clearing. Naturally, coverage can be sped up with multiple robots. In this paper, we describe Multi-Robot Forest Coverage, a new multi-robot coverage algorithm based on an algorithm by Even et al. for finding a tree cover with trees of balanced weights. The cover time of Multi-Robot Forest Coverage is at most sixteen times larger than optimal, and our experiments show it to perform significantly better than existing multi-robot coverage algorithms. Errata: This version of the paper corrects a mistake. The cover time of Multi-Robot Forest Coverage is at most sixteen times larger than optimal rather than eight. The proof in the original paper stated that 2 Chat ≤ Thatul but should have stated that Chat ≤ Thatul.

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