A survey on multi-robot coverage path planning for model reconstruction and mapping

• DOI: 10.1007/s42452-019-0872-y
• Publication Date: 2019-07-10T19:02:41Z
• Authors: Randa Almadhoun; Tarek Taha; Lakmal Seneviratne; Yahya Zweiri
• Keywords: 0209 industrial biotechnology; mechanical; 02 engineering and technology

There has been an increasing interest in researching, developing and deploying multi-robot systems. This has been driven mainly by: the maturity of the practical deployment of a single-robot system and its ability to solve some of the most challenging tasks. Coverage path planning (CPP) is one of the active research topics that could benefit greatly from multi-robot systems. In this paper, we surveyed the research topics related to multi-robot CPP for the purpose of mapping and model reconstructions. We classified the topics into: viewpoints generation approaches; coverage planning strategies; coordination and decision-making processes; communication mechanism and mapping approaches. This paper provides a detailed analysis and comparison of the recent research work in this area, and concludes with a critical analysis of the field, and future research perspectives.