Research

Coverage of Linear Features using Multiple Robots

Development of algorithms for coverage of linear features using multiple robots:

  • Wind considerations in computing the energy consumed while traversing
  • The capacity of battery is modeled as a constraint on the length of the tours
  • Optimize the tours for the total travel cost of all the robots
  • The amount of data gathered is significantly lesser than current solutions, thereby reducing the computation required to analyze the environment
  • Practical constraints: line-of-sight, collision avoidance, heterogeneous team of robots, etc.
  • Applications include inspection of road networks and power lines

Variable Formation

Development of algorithms to simultaneously compute the optimal assignments and formation parameters for a team of robots from a given initial formation to a variable goal formation.

  • The shape of goal formation is provided as input
  • The scale and location parameters for the goal formation is optimized
  • Optimal assignments of the robots to the goal positions
  • Sum of squared travel distance is minimized
  • Guaranteed collision-free trajectories
  • Robots start simultaneously and reach their goal positions simultaneously
  • O(n^3) running time complexity