Efficient Coordinated Cleaning by Large and Small Robots in Complex Environments

Abstract

In order to clean a floor efficiently using large and small robots simultaneously, it is useful to operate each robot in a planned manner. In this study, we compared the efficiency of cleaning using a path finding method and a action decision method according to the state, and presented that there is a suitable method depending on the environment. In addition, we established an efficient cleaning method under realistic conditions by using the action decision method according to the state, and verified the efficient cleaning method by experiments.