MUMBAI, India, Sept. 22 -- Intellectual Property India has published a patent application (202541079603 A) filed by Manipal Academy Of Higher Education on August 22, 2025, for A System And Method For Obstacle-Adaptive Decentralized Exploration And Coverage By Robotic Agents.
Inventors include Vishnu G Nair; and Jayalakshmi K P.
The application for the patent was published on September 18, 2026, under issue no. 38/2026.
Abstract: A method of operating a decentralized multi-agent exploration and coverage system (101) comprises partitioning a workspace into disjoint task regions using distance- based Voronoi decomposition, and planning a coverage trajectory integrating frontier-based exploration with dynamic spanning-tree coverage. An obstacle is sensed over successive frames and classified as static or dynamic based on a threshold greater than the sensing and localization uncertainty of a Plurality of Autonomous Robotic Agents (301). A static obstacle is committed to a local occupancy grid, while a dynamic obstacle's cell is retained in a deferred state, withheld from the grid, by a Deferred-Cell Manager (325). A minimum clearance distance is determined, and a wait or bypass action is selected to displace the agent. Only the affected branch of a spanning tree is restructured, and the task region is declared complete only when every cell is visited or inaccessible, excluding any deferred cell. (FIG. 4)
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