An ever-growing infrastructure, including existing and newly built power plants, as well as a rising environmental awareness in society call for inspection and maintenance systems of high efficiency. A solution can be...
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ISBN:
(纸本)9780982657140
An ever-growing infrastructure, including existing and newly built power plants, as well as a rising environmental awareness in society call for inspection and maintenance systems of high efficiency. A solution can be found in the development of mobile agents to provide assistive inspection tools with improved autonomy. In collaboration with industry the MagneBike robot for power plant inspection has been developed. The robot has been tested in a specific real field environment showing critical issues but inspiring future guidelines. This paper proposes to turn the semi-autonomous MagneBike robot into a multi-agent inspection system with clear benefits in speed, robustness and flexibility of task execution. The inspection task is approached by a hybrid coverage method that combines the concepts of blanket and sweep coverage. Three algorithms implementing hybrid coverage are presented and evaluated in simulations.
We study distributed coverage of environments with unknown extension using a team of networked miniature robots analytically and experimentally. Algorithms are analyzed by incrementally raising the abstraction level s...
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We study distributed coverage of environments with unknown extension using a team of networked miniature robots analytically and experimentally. Algorithms are analyzed by incrementally raising the abstraction level starting froth physical robots, to realistic and discrete event system (DES) simulation. The realistic simulation is calibrated using sensor and actuator noise characteristics of the real platform and serves for calibration of the DES microscopic model. The proposed algorithm is robust to positional noise and communication loss, and its performance gracefully degrades for communication and localization failures to a lower bound, which is given by the performance of a non-coordinated, randomized solution. Results are validated by real robot experiments with miniature robots of a size smaller than 2 cm x 2 cm x 3 cm in a boundary coverage case study. Trade-offs between the abilities of the individual platform, required communication, and algorithmic performance are discussed. (c) 2008 Elsevier B.V. All rights reserved.
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