Abstract:

We discusses multirobot online map coverage. We introduce the market auction algorithm to improve the spanning tree covering algorithm of a single robot, make robot team diffuse a spanning tree and cover the map completely along their own spanning trees. Two simulation experiments are conducted and the results of two different environment map coverage show that the improved spanning tree covering algorithm can make the robot team accomplish online map coverage with less time and less repeated coverage.

Key words: spanning tree;multirobot;coverage;market auction