Towards efficient robot adversarial coverage

Roi Yehoshua, Noa Agmon, Gal A. Kaminka

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


This paper discusses the problem of generating efficient coverage paths for a mobile robot in an adversarial environment, where threats exist that might stop the robot. First, we formally define the problem of adversarial coverage, and present optimization criteria used for evaluation of coverage algorithms in adversarial environments. We then present a coverage area planning algorithm based on a map of the probable threats. The algorithm tries to minimize the total risk involved in covering the target area while taking into account coverage time constrains. The algorithm is based on incrementally extending the coverage path to the nearest safe cells while allowing the robot to repeat its steps. By allowing the robot to visit each cell in the target area more than once, the accumulated risk can be reduced at the expense of extending the coverage time. We show the effectiveness of this algorithm in extensive experiments.

Original languageEnglish
Title of host publicationIntelligent Robotic Systems - Papers from the 2013 AAAI Workshop, Technical Report
PublisherAI Access Foundation
Number of pages6
ISBN (Print)9781577356219
StatePublished - 2013
Event2013 AAAI Workshop - Bellevue, WA, United States
Duration: 15 Jul 201315 Jul 2013

Publication series

NameAAAI Workshop - Technical Report


Conference2013 AAAI Workshop
Country/TerritoryUnited States
CityBellevue, WA

Bibliographical note

Place of conference:USA


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