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Appl. Sci. 2018, 8(3), 342; https://doi.org/10.3390/app8030342

Tackling Area Coverage Problems in a Reconfigurable Floor Cleaning Robot Based on Polyomino Tiling Theory

1
Engineering Product Development, Singapore University of Technology and Design, Singapore 487372, Singapore
2
Parkway Pantai Groups, Mount Elizabeth, Novena, 38 Irrawaddy Rd, Singapore 68986898, Singapore
*
Author to whom correspondence should be addressed.
Received: 22 January 2018 / Revised: 13 February 2018 / Accepted: 22 February 2018 / Published: 28 February 2018

Abstract

Whilst Polyomino tiling theory has been extensively studied as a branch of research in mathematics, its application has been largely confined to multimedia, graphics and gaming domains. In this paper, we present a novel application of Tromino tiling theory, a class of Polyomino with three cells in the context of a reconfigurable floor cleaning robot, hTromo. The developed robot platform is able to automatically generate a global tiling set required to cover a defined space while leveraging on the Tromino tiling theory. Specifically, we validated the application of five Tromino tiling theorems with our hTromo robot. Experiments performed clearly demonstrate the efficacy of the proposed approach resulting in very high levels of area coverage performance in all considered experimental cases. This paper also presents the system architecture of our hTromo robot and a detailed description of the five tiling theorems applied in this study. View Full-Text
Keywords: reconfigurable mechanism; floor cleaning robot; polyominoes; hinged dissection; tiling theory; area coverage; path planning reconfigurable mechanism; floor cleaning robot; polyominoes; hinged dissection; tiling theory; area coverage; path planning
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).
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Prabakaran, V.; Mohan, R.E.; Sivanantham, V.; Pathmakumar, T.; Kumar, S.S. Tackling Area Coverage Problems in a Reconfigurable Floor Cleaning Robot Based on Polyomino Tiling Theory. Appl. Sci. 2018, 8, 342.

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