On some implementation issues in robot-to-area allocation problems
Angelo Zapodeanu, Adrian Burlacu, Marius Kloetzer · 2016
This work presents answers to some implementation issues that can be encountered in robot-to-area allocations for exploration problems. The purpose of this research is to plan and control a team of mobile agents to visit a set of regions identified in the workspace. A reduced set of robot-to-region allocations with some particular cases that can appear in practical implementation are considered. The encountered issues for adapting the analytical solution are highlighted and specific centralized methods for coping with them are proposed. Real-time implementation results are offered for evaluation of the proposed method.