The multi-robot forest coverage for weighted terrain1

Abstract

Different multi-robot solutions are very important for intelligent environments. Robots can perform various physical tasks and provide us with information, communication, and entertainment. Frequently, the effective usage of robotic systems requires solutions of different hard problems. The multi-r obot forest coverage is one of such problems. This paper is devoted to the consideration of efficient algorithms for the problem of the multi-robot forest coverage for weighted terrain. In particular, it is considered an explicit reduction from the decision version of the problem of the multi-robot forest coverage for weighted terrain to the satisfiability problem. For different satisfiability algorithms, the results of computational experiments with the real-world data, the synthetic terrains with the real-world weights, and the special hard terrains are presented. Also, a genetic algorithm for the direction solution to the problem of the multi-robot forest coverage for weighted terrain is proposed.