 
Summary: ACCEPTED AS A REGULAR PAPER TO THE IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING, SEPTEMBER 2008 1
Coverage of a Planar Point Set with Multiple
Robots subject to Geometric Constraints
Nilanjan Chakraborty, Student Member, IEEE, Srinivas Akella, Member, IEEE, and John T. Wen, Fellow, IEEE
AbstractThis paper focuses on the assignment of N discrete
points among K geometrically constrained robots and determi
nation of the order in which the points should be processed
by the robots. This path planning problem is directly motivated
by an industrial laser drilling system with two robots that are
constrained to translate along a common line while satisfying
collision avoidance constraints. The points lie on a planar base
plate that translates normal to the axis of motion of the robots.
The geometric constraints on the motions of the robots lead to
constraints on points that can be processed simultaneously.
We use a two step approach to solve the path planning
problem: (1) Splitting Problem: Assign the points to the K robots,
subject to geometric constraints, to maximize parallel processing
of the points. (2) Ordering Problem: Find an order of processing
the split points by formulating and solving a multidimensional
Traveling Salesman Problem (TSP) in the Ktuple space with an
