Human-Aided Cleaning Algorithm for Low-cost Robot Architecture

Abstract

This paper presents a human-aided cleaning algorithm that can be implemented on low-cost robot architecture while the cleaning performance far exceeds the conventional random style cleaning. We clarify the advantages and disadvantages of the two notable cleaning robot styles: the random and the mapping styles, and show the possibility how we can achieve the performance of the complicated mapping style under the random style-like robot architecture using the idea of human-aided cleaning algorithm. Experimental results are presented to show the cleaning performance.