부산대학교 도서관

Robotic platforms have been involved in our daily life more and more. Lately, this involvement has evolved to deploy a group of robots to do certain tasks such as floor cleaning, search-and-rescue missions, mine cleaning, and similar others. One of the main challenges that arise in such deployments is covering an area (or visiting the whole area) known as a coverage problem. In this paper, we present an approach for a coverage problem with a group of heterogeneous robots. Our approach is motivated by submapping approaches to alleviate the computational cost. Specifically, We discuss the problem of forming robot teams for covering the sub-maps for a given set of robots with different capacities in terms of battery consumption and velocity. We present a teamforming formulation as an optimization problem. We provide its efficiency via preliminary results using simulated data and the obtained results show promising results leaving room for further improvements.