Abstract: This talk focuses on coordinating several robots to achieve complete
coverage of geometrically complex environments. I will present
algorithms that we have recently developed for coverage in non-convex
environments using alternating Voronoi tessellations and searching
algorithms, coverage of curved surfaces using Voronoi tessellations
over surface meshes, and collision avoidance for coverage with multiple
non-holonomic robots. I will discuss applications of these algorithms
to the inspection of complex tube-like environments, as they typically
appear in supply infrastructure, industrial installations, and
structures of power plants. I will then describe efforts toward the
implementation of these algorithms on MagneBike, a compact
magnetic-wheeled climbing robot specially designed for power plant
inspection.
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