Publication Details

Choung Le, Anh Pham, Hung La, and David Feil-Seifer. "A Multi-Robotic System for Environmental Dirt Cleaning." In Proceedings of the IEEE/SICE International Symposium on System Integration (SII), Honolulu, Hawaii, Jan 2020. IEEE/SICE, . doi: 10.1109/SII46433.2020.9026295 ( pdf )


  • Keywords:
  • task allocation
  • networks
  • REU

Abstract

An industrial environment usually has a lot of waste that could cause harmful effects to both the products and the workers resulting in product defects, itchy eyes or chronic obstructive pulmonary disease, etc. While automatic cleaning robots could be used, the environment is often too large for one robot to clean alone in addition to the fact that it does not have adequate stored dirt capacity. We resent a multirobotic dirt cleaning system algorithm for coordinating multiple iRobot-Creates as a team to efficiently clean an environment. Often, since some spaces in the environment are clean while others are dirty, our multi-robotic system possesses a path planning algorithm to allow the robot team to clean efficiently by increasing vacuum motor power on the area with higher dirt level. Overall, our multi-robotic system outperforms the single robot system in time efficiency while having almost the same total battery usage and cleaning efficiency result

Author Details

Name: Choung Le
Status: Inactive

Name: Anh Pham
Status: Inactive

Name: Hung La
Status: Active

Name: David Feil-Seifer
email: dave@cse.unr.edu
Website: http://cse.unr.edu/~dave
Phone: (775) 784-6469
Status: Active

BibTex Reference

@inproceedings{le2020a,
  title={A Multi-Robotic System for Environmental Dirt Cleaning},
  author={Choung Le and Anh Pham and Hung La and David Feil-Seifer},
  year={2020},
  month={January},
  address={Honolulu, Hawaii},
  doi={10.1109/SII46433.2020.9026295},
  booktitle={Proceedings of the IEEE/SICE International Symposium on System Integration (SII)},
  organization={IEEE/SICE},
}

HTML Reference

<span class="authors">Choung Le, Anh Pham, Hung La, and David Feil-Seifer</span>. <span class="title">"A Multi-Robotic System for Environmental Dirt Cleaning." </span> In <span class="booktitle">Proceedings of the IEEE/SICE International Symposium on System Integration (SII)</span>, <span class="address">Honolulu, Hawaii</span>, <span class="month">Jan</span> <span class="year">2020</span>. <span class="ending">IEEE/SICE, .</span> <span class="doi">doi: 10.1109/SII46433.2020.9026295</span>

Support

REU Site: Collaborative Human-Robot Interaction, National Science Foundation PI: David Feil-Seifer, co-PI: Shamik Sengupta, Amount: $360,000, Feb. 1, 2018 - Jan. 31, 2021