Number of studies about complete coverage has been increasing in the last five years. There are different approaches about complete coverage route planning for single and multi robot systems when the environment is known and static. But for the dynamic and unknown environments, methods for complete coverage by single or multi robot systems with limited sensor capabilities are few and they are in simulation stage. These methods are successful under certain assumptions and new methods are necessary to find solutions for more general conditions and/or real applications. In this project, methods will be developed for complete coverage route planning for the mobile robots having limited sensor capabilities. In route planning, existing models and solution methods in operational research will be used. In this respect, we plan to use route planning models such as traveling salesman problem and covering tour problem. Additionally, since these kind of problems are NP-hard, because finding the optimal solution of the problem is time consuming, is it planned to find effective solutions (routes) by using heuristic and/or meta-heuristic approaches. Main purpose is to develop a model such that robot(s) cover the entire region in the shortest time or distance and for this model developing effective solutions by heuristic and/or meta-heuristic approaches. Also we plan to develop an architecture which enables us to re-plan in the dynamic environments. Applications are planned for single and multi-robot systems for dynamic indoor environments.

Accomplishing of complex tasks by a cooperative mobile group requires not only designing perfectly working individual robotic agents, but also programming these agents to work in coordination. In this project, we plan to develop techniques for a homogeneous robot group to accomplish a given task. For this purpose, first behaviors for individual robots will be developed in order to complete their roles. But, some of the tasks may require more than one robot to work in coordination. In this case, each robot should be responsible for a part of the task, they should help each other and should nor interfere with another. In this project, mainly, techniques will be developed to assign roles to individual robots in order to accomplish a given task by a number of robots. Scheduling of a number of tasks is the process of deciding about the order of the tasks and is known as traveling salesman problem. In this project, first we will try to schedule tasks using traveling salesman problem like approaches and then rule-based scheduling and task allocation methods will be used. In order to control the progress of the given task and in the case of a failure to redistribute the roles, a communication protocol will be developed among the team members.