Competitive coverage: (Full) information as a game changer

Moshe N. Samson, Noa Agmon

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Scopus citations

Abstract

This paper introduces the competitive coverage problem, a new variant of the robotic coverage problem in which a robot R competes with another robot O in order to be the first to cover an area. In the variant discussed in this paper, the asymmetric competitive coverage, O is unaware of the existence of R, which attempts to take that fact into consideration in order to succeed in being the first to cover as many parts of the environment as possible. We consider different information models of R that define how much it knows about the location of O and its planned coverage path. We present an optimal algorithm for R in the full-information case, and show that unless R has information about O's initial location, it is as if it has no information at all. Lastly, we describe a correlation between the time it takes R to reach O's initial location and the coverage paths quality, and present a heuristic algorithm for the case in which R has information only about O's initial location, showing its superiority compared to other coverage algorithms in rigorous simulation experiments.

Original languageEnglish
Title of host publication2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages6633-6640
Number of pages8
ISBN (Electronic)9781728162126
DOIs
StatePublished - 24 Oct 2020
Event2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020 - Las Vegas, United States
Duration: 24 Oct 202024 Jan 2021

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
Country/TerritoryUnited States
CityLas Vegas
Period24/10/2024/01/21

Bibliographical note

Publisher Copyright:
© 2020 IEEE.

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