Long-term trials for improvement of autonomous area coverage with a Tetris inspired tiling self-reconfigurable system
作者：
Highlights：
• hTetro a Tetris inspired self-reconfigurable floor cleaning robot.
• Capable of performing autonomously in a constrained environment.
• Conducting longterm trials in a complex food court environment as our case study.
• Benchmarked the robot’s coverage performance with fixed morphology robot.
• Improved system design, control system, and coverage strategy.
摘要
•hTetro a Tetris inspired self-reconfigurable floor cleaning robot.•Capable of performing autonomously in a constrained environment.•Conducting longterm trials in a complex food court environment as our case study.•Benchmarked the robot’s coverage performance with fixed morphology robot.•Improved system design, control system, and coverage strategy.
论文关键词：Tiling robotics,Reconfigurable robotics,Cleaning and maintenance,Path planning,Long-term automation
论文评审过程：Received 27 April 2021, Revised 11 May 2022, Accepted 6 June 2022, Available online 16 June 2022, Version of Record 22 June 2022.
论文官网地址：https://doi.org/10.1016/j.eswa.2022.117810
