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Mirdar Harijani, A., Masehian, E. (2012). Planning of Covering and Minesweeping Operations for Multiple Robots in Unknown Environments. Electronic and Cyber Defense, 3(1), 57-71.
Ali Mirdar Harijani; Ellips Masehian. "Planning of Covering and Minesweeping Operations for Multiple Robots in Unknown Environments". Electronic and Cyber Defense, 3, 1, 2012, 57-71.
Mirdar Harijani, A., Masehian, E. (2012). 'Planning of Covering and Minesweeping Operations for Multiple Robots in Unknown Environments', Electronic and Cyber Defense, 3(1), pp. 57-71.
Mirdar Harijani, A., Masehian, E. Planning of Covering and Minesweeping Operations for Multiple Robots in Unknown Environments. Electronic and Cyber Defense, 2012; 3(1): 57-71.

Planning of Covering and Minesweeping Operations for Multiple Robots in Unknown Environments

علوم و فناوریهای پدافند نوین
Article 7, Volume 3, Issue 1 - Serial Number 7, August 2012, Pages 57-71    PDF (981.69 K)
Authors
Ali Mirdar Harijani; Ellips Masehian*
Receive Date: 30 January 2019,  Revise Date: 17 July 2025,  Accept Date: 30 January 2019 
Abstract
Abstract – In parallel with advances in robots hardware, the motion planning science has become increasingly indispensable and complicated, and enables robots to enhance their capabilities in applications where the presence of humans is impractical or hazardous. The covering and minesweeping operations of outdoor areas are examples of such applications. This paper deals with the problem of covering and minesweeping of unknown environments by multiple mobile robots which have cooperative interactions. For searching the space, the new method of Multi Sensor-based Random Trees (MSRT) is developed, and for planning the robots’ paths toward the scattered items and their collection, a mathematical model similar to the Multiple Traveling Salesman Problem is proposed, which together with the k-means clustering, the A* search, and the Visibility Graph techniques plans the route of each robot. Comparisons with the counterpart mathematic model solved to optimality showed that the proposed method produces suboptimal solutions in much shorter computational times.
Keywords
Covering; Minesweeping; Multi robot Motion Planning; TSP; Clustering
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