Line coverage is to cover linear infrastructure modeled as 1D segments by robots, which received attention in recent years. With the increasing urbanization, the area of the city and the density of infrastructure continues to increase, which brings two issues: (1) Due to the energy constraint, it is hard for the homogeneous robot team to cover the large-scale linear infrastructure starting from one depot; (2) In the large urban scene, the imbalance of robots' path greatly extends the time cost of the multi-robot system, which is more serious than that in smaller-size scenes. To address these issues, we propose a heterogeneous multi-robot approach consisting of several teams, each of which contains one transportation robot (TRob) and several coverage robots (CRobs). Firstly, a balanced graph partitioning (BGP) algorithm is proposed to divide the road network into several similar-size sub-graphs, and then the TRob delivers a group of CRobs to the subgraph region quickly. Secondly, a balanced ulusoy partitioning (BUP) algorithm is proposed to extract similar-length tours for each CRob from the sub-graph. Abundant experiments are conducted on seven road networks ranging in scales that are collected in this paper. Our method achieves robot utilization of 90% and the best maximal tour length at the cost of a small increase in total tour length, which further minimizes the time cost of the whole system. The source code and the road networks are available at https://github.com/suhangsong/BLC-LargeScale.
翻译:线条覆盖范围将覆盖以机器人制成的 1D 区块的线性基础设施,这种系统近年来受到关注。随着城市化的日益扩大,城市面积和基础设施密度继续增加,这带来了两个问题:(1) 由于能源限制,同质机器人团队很难从一个仓库开始覆盖大型线性基础设施;(2) 在大城市,机器人路径的不平衡大大扩大了多机器人系统的时间成本,这比小场景更为严重。为了解决这些问题,我们建议采用由几个小组组成的多种多机器人方法,其中每个小组都包含一个运输机器人(TRob)和几个覆盖机器人(CRObs)。首先,建议一个均衡的图形分区(BGP)算法将公路网分为几个类似大小的子图;然后,在大型城市地区,机器人路径的不平衡将一组CRObs 快速推展到子区域。第二,一个平衡的卢索分区(BUP)算法是从一个小的CROB(TRB),每个小组都包含一个运输机器人(TRB) 和几个覆盖机器人(Crob) 机器人(C) rob) 机器人(TRO) (C) (C) rob) (C) (C) (Calal) (Cal) (C) (B) (B) col) (S) (S) (S) (S) (S) (S) (S) (S) (S) (S) (S) (S) (S) (S) (S) (S) (S) (S) (S) (S) (S) (这个小片段) (S) (Sir) (S) (S) (S) (S) (S) (S) (S) (S) (S) (S) (S) (S) (S) (S) (S) (S) (S) (S) (S) (S) (S) (S) (S) (S) (S) (S) (Sulb) (S) (S) (S) (S) (S) (S) (S) (S) (S) (S) (S) (S) (S) (S) (S) (S) (S) (S) (S) (S) (S) (S) (S) (