  There is a lot of waste in an industrial environment that could cause harmful
effects to both the products and the workers resulting in product defects,
itchy eyes or chronic obstructive pulmonary disease, etc. While automative
cleaning robots could be used, the environment is often too big for one robot
to clean alone in addition to the fact that it does not have adequate stored
dirt capacity. We present a multi-robotic dirt cleaning system algorithm for
multiple automatic iRobot Creates teaming to efficiently clean an environment.
Moreover, since some spaces in the environment are clean while others are
dirty, our multi-robotic system possesses a path planning algorithm to allow
the robot team to clean efficiently by spending more time on the area with
higher dirt level. Overall, our multi-robotic system outperforms the single
robot system in time efficiency while having almost the same total battery
usage and cleaning efficiency result.
