Modeling floor-cleaning coverage performances of some domestic mobile robots in a reduced scenario

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Pallejà Cabrè, TomàsPallejà Cabrè, Tomàs - ORCID ID
Tresánchez Ribes, MarcelTresánchez Ribes, Marcel - ORCID ID
Teixidó Cairol, MercèTeixidó Cairol, Mercè - ORCID ID
Palacín Roca, JordiPalacín Roca, Jordi - ORCID ID
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In this paper, floor-cleaning coverage performances of some domestic mobile robots are measured, analyzed and modeled. Results obtained in a reduced scenario show that floor-cleaning coverage is complete in all cases if the path-planning exploration algorithm has some random dependence. Additionally, the evolution of the area cleaned by the mobile robot expressed in a distance domain has an exponential shape that can be modeled with a single exponential where the amplitude defines the maximum cleaning-coverage achieved and the time-constant defines the dynamic evolution of the coverage. Both parameters are robot dependent and can be estimated if the area of the room is known and then floor-cleaning coverage can be predicted and over-cleaning minimized.
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Robotics and Autonomous Systems, 2010, vol. 58, núm. 1, p. 37-45