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Preliminaries Assumption1lighthouse sensor system Assumption2self navigation algorithm Virtual Wall Service Traversing Service Docking Navigation Service Problem Formulation Key concept 1cleaning in a battery-reserving mode

  1. Preliminaries Assumption1—lighthouse sensor system Assumption2—self navigation algorithm Virtual Wall Service Traversing Service Docking Navigation Service

  2. Problem Formulation Key concept 1—cleaning in a battery-reserving mode The original tour The tour in battery reserving mode Key concept 2—the shortest path on an explored map A demonstration of using A* algorithm to resolve the shortest path on a continuous map

  3. Problem Formulation “ ”: The states added to perform the new feature proposed in this paper Problem is formulated as a state machine

  4. Model Analysis State 1: charging State 3: cleaning in the battery reserving mode Entry action Entry action 1. Starts manually 1. Starts after charging with regular mode 2. Starts as self-charging Exit action Exit action 1. Enters state 4, travels from A to B 1. Enters state 2, cleans in the regular mode 2. Enters state 5, requests the lighthouse signal 2. Enters state 4, travels from A to B 3. Enters state 6, terminates state machine State 4: traveling from A to B Entry action State 2: cleaning in the regular mode 1. Starts after charging Entry action 2. Starts after receiving the signal 1. 1. Starts after charging Starts after charging 3. 3. Starts after finishing the task in the regular mode Starts after finishing the task in the regular mode 2. Starts after finding the right position 4. Starts after finishing the task in the battery-reserving mode 3. Starts when entering a new room Exit action Exit action 1. Enters state 2, cleaning in the regular mode 1. Enters state 5, requests for lighthouse signal 2. Enters state 3, cleans in the battery-reserving mode 2. Enters state 4, travels from A to B 3. Enters state 1, charging 3. Enters state 3, cleans in the battery-reserving mode State 5: requesting for the lighthouse navigation signal Entry action 1. Starts after cleaning a room with sufficient battery 2. Starts after cleaning a room with the battery-reserving mode Exit action 1. Enters state 4, travels from A to B

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