Decentralized area partitioning for a cooperative cleaning task

Chihiro Kato, Toshiharu Sugawara

Research output: Chapter in Book/Report/Conference proceedingConference contribution

12 Citations (Scopus)


We describe a method for decentralized task/area partitioning for coordination in cleaning domains. Ongoing advances in computer science and robotics lead to robot applications for large areas that require coordinated tasks by multiple robots. We focused on a cleaning task to be performed by multiple robots with potentially different performances and developed a method for partitioning the target area to improve the overall efficiency through their balanced collective efforts. Agents autonomously decide how the task/area is to be partitioned by taking into account the characteristics of the environments. Experiments showed that the proposed method can adaptively partition the area among the agents so that they can keep it clean effectively and evenly.

Original languageEnglish
Title of host publicationPRIMA 2013
Subtitle of host publicationPrinciples and Practice of Multi-Agent Systems - 16th International Conference, Proceedings
Number of pages8
Publication statusPublished - 2013
Event16th International Conference on Principles and Practice of Multi-Agent Systems, PRIMA 2013 - Dunedin, New Zealand
Duration: 2013 Dec 12013 Dec 6

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume8291 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Conference16th International Conference on Principles and Practice of Multi-Agent Systems, PRIMA 2013
Country/TerritoryNew Zealand

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)


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