Journal
AUTOMATION IN CONSTRUCTION
Volume 91, Issue -, Pages 155-165Publisher
ELSEVIER
DOI: 10.1016/j.autcon.2018.03.015
Keywords
-
Ask authors/readers for more resources
Although several precedents have demonstrated the benefits of using floor cleaning robots for the maintenance of constructed buildings, traditional platforms suffer from a series of performance issues. One major factor that contributes to their performance deficit is their fixed morphology design, which highly constrains their navigation and access. To this end, a novel Tetris-inspired reconfigurable floor cleaning robot called hTetro is presented in this paper. The developed robot is capable of reconfiguring its morphology to any of seven one-sided tetrominoes in response to its perceived environment to maximize its coverage area. This paper presents the coverage area performance of the hTetro robot and systematically benchmarks its performance with two commercially available fixed morphology robot platforms. Our experiments indicate that hTetro achieves significantly higher coverage performance than the other platforms due to its shape-shifting ability in response to navigating its environment.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available