Resilient Multi-Robot Coverage Path Redistribution Using Boustrophedon Decomposition for Environmental Monitoring

. 2024 Nov 23;24(23):7482. doi: 10.3390/s24237482

Algorithm 1 Propagation-Based Coverage Redistribution

1:
Input: Coverage paths $C P$ , N, Failed robot $R_{k}$
2:
Output: Updated coverage paths $C P^{'}$
3:
Parent $\leftarrow \emptyset$
4:
Construct the adjacency tree T based on $R_{k}$
5:
for each child robot $i \in R_{N}^{L_{1}}$ do
6:
Calculate $α_{i, assign}$ from (7)
7:
Calculate $L_{i}$ from (8)
8:
$C P_{i}^{'} \leftarrow UpdatePaths (C P_{i}, L_{i}, α_{i, assign})$
9:
Parent $\leftarrow Parent \cup {i}$
10:
end for
11:
while Parent $\neq \emptyset$ do
12:
$j \leftarrow Extract (Parent)$
13:
Child $\leftarrow ExtractChild (T, j)$
14:
Calculate $α_{Child, assign}$ from (10)
15:
Calculate $L_{Child}$ from (9)
16:
Calculate $L_{j}$ from (11)
17:
$C P_{Child}^{'} \leftarrow UpdatePaths (C P_{Child}, L_{Child}, α_{Child, assign})$
18:
$C P_{j}^{'} \leftarrow UpdatePaths (C P_{j}^{'}, L_{j}, α_{Child, assign})$
19:
Parent $\leftarrow Parent \cup {Child}$
20:
Parent $\leftarrow Parent ∖ {j}$
21:
end while
22:
return Updated paths $C P^{'}$