Abstract

Road inspection and cleaning are crucial to securing driving safety. Deploying a fleet of robots that run through a city can inspect and clean pavements without causing road closure. To achieve high coverage, one has to prevent robots from going through a road segment more than necessary. However, robots may need more than one visit to a particular road segment to inspect a defect. The uncertain success rate of defect inspection and the unknown maximum number of defects hinder the efficacy. Such uncertainty and constraints in objectives can also be seen in security patrolling, trip planning, and network maintenance. We target the problem of multi-agent scheduling with bounded objectives. The scheduling aims for maximum road network coverage while ensuring sufficient visits to particular road segments for defect identification of an uncertain subject, such as potholes and faded markings during road …

Date

January 8, 2026

Authors

Fandel Lin, Han Zhang, TK Satish Kumar, Craig A Knoblock

Journal

ACM Transactions on Spatial Algorithms and Systems

Publisher

ACM