A survey on multi-robot coverage path planning for model reconstruction and mapping

Randa Almadhoun, Tarek Taha, Lakmal Seneviratne, Yahya Zweiri
2019 SN Applied Sciences  
There has been an increasing interest in researching, developing and deploying multi-robot systems. This has been driven mainly by: the maturity of the practical deployment of a single-robot system and its ability to solve some of the most challenging tasks. Coverage path planning (CPP) is one of the active research topics that could benefit greatly from multi-robot systems. In this paper, we surveyed the research topics related to multi-robot CPP for the purpose of mapping and model
more » ... ions. We classified the topics into: viewpoints generation approaches; coverage planning strategies; coordination and decision-making processes; communication mechanism and mapping approaches. This paper provides a detailed analysis and comparison of the recent research work in this area, and concludes with a critical analysis of the field, and future research perspectives.
doi:10.1007/s42452-019-0872-y fatcat:y6hkwvnapnfpnax3k7xnqkj2gi