A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2020; you can also visit the original URL.
The file type is
This article examines the problems of multi-robot coverage and persistent monitoring of regions of interest with limited sensing robots. A group of robots, each equipped with only contact sensors and a clock, execute a simple trajectory by repeatedly moving straight and then bouncing at perimeter boundaries by rotating in place. We introduce an approach by finding a joint trajectory for multiple robots to cover a given environment and generating cycles for the robots to persistently monitor thedoi:10.3390/robotics9020047 fatcat:oqihnb5cr5fn7bdkxmxj3e5lvi