Autonomous mobile robots for coverage path planning

A system comprising:

• a memory storing instructions;
• a processor coupled to the memory, wherein the processor is configured by the instructions to:
• receive sensor data from one or more sensor devices, the sensor data comprising information corresponding to one or more robots in a predefined region, wherein the predefined region is divided into a plurality of cells;
• generate a map for the one or more robots based on the received sensor data, the map comprising a probable occupancy of each of the plurality of cells by the one or more robots in the predefined region;
• determine a set of poses of the one or more robots based on the generated map, wherein the set of poses and the plurality of cells forms a visibility matrix, the visibility matrix comprising an index for quality of sensor observation;
• determine an optimal set of poses from the set of poses based on the visibility matrix, wherein determining the optimal set of poses comprises estimating an overall coverage value of each cell in the visibility matrix;
• and
• generate a coverage path plan for each of the one or more robots based on the determined optimal set of poses, wherein generating the coverage path plan comprises assigning a sensor visibility cost to each of the cells corresponding to the optimal set of poses.

One or more non-transitory machine readable information storage mediums comprising one or more instructions which when executed by one or more hardware processors cause:

• receiving sensor data from one or more sensor devices, the sensor data comprising information corresponding to one or more robots in a predefined region, wherein the predefined region is divided into a plurality of cells;
• generating a map for the one or more robots based on the received sensor data, the map comprising a probable occupancy of each of the plurality of cells by the one or more robots in the predefined region;
• determining a set of poses of the one or more robots based on the generated map, wherein the set of poses and the plurality of cells forms a visibility matrix, the visibility matrix comprising an index for quality of sensor observation;
• determining an optimal set of poses from the set of poses based on the visibility matrix, wherein determining the optimal set of poses comprises estimating an overall coverage value of each cell in the visibility matrix;
• and
• generating a coverage path plan for each of the one or more robots based on the determined optimal set of poses, wherein generating the coverage path plan comprises assigning a sensor visibility cost to each of the cells corresponding to the optimal set of poses.