2A1-F01 Area Allocation for Cleaning Task using Multiple Robots

Abstract

In this paper, we consider the problem of cleaning task using multiple cleaning robots in large environment. For allocating the cleaning task to multiple cleaning robots in large environment, the cleaning task must be divided into several sub-tasks which are to clean divided areas, and these sub-tasks must be allocated to each cleaning robot. The divided areas are generated by Virtual Door Algorithm (VDA) which is suggested area partitioning algorithm. We also suggest the Area Allocation Algorithm (AAA), which is robust algorithm for the number of the cleaning robots, to allocate the non-allocated divided areas to allocated areas of each cleaning robot. In this paper, we verify the effectiveness of the proposed method using the computer simulation.