In this work, coverage of agricultural ﬁelds using a team of autonomous unmanned ground robots with no human intervention is investigated. To this end, ﬁeld is ﬁrst represented by a topological mapandthenadistributedenergy-awaredeployment strategy is proposed to optimally distribute robots with the aim of persistent monitoring of speciﬁed regions of interest. When a robot participating in the coverage task approaches a low energy reserve, the team of robots collectively and cooperatively adjust the coverage formation to allow the agent to return to a designated base station, where it can recharge before rejoining the effort. Preliminary (simulation) results are provided to show the effectiveness and capabilities of the proposed coverage algorithm.
Coverage Control with Multiple Ground Robots for Precision Agriculture
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Davoodi, M., Mohammadpour Velni, J., and Li, C. (June 1, 2018). "Coverage Control with Multiple Ground Robots for Precision Agriculture." ASME. Mechanical Engineering. June 2018; 140(06): S4–S8. https://doi.org/10.1115/1.2018-JUN-4
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