Coverage analysis is essential for many coverage tasks (e.g., robotic grit-blasting, painting, and surface cleaning) performed by Autonomous Industrial Robots (AIRs). Coverage analysis enables (1) the performance evaluation (e.g., coverage rate and operation efficiency) of AIRs for a coverage task, and (2) the configuration design of a multi-AIR system (e.g., decision on the number of AIRs to be used). Multi-AIR coverage analysis of large and complex structures involves addressing various problems. Thus, a framework is presented in this paper that incorporates various modules (e.g., AIR reachability, AIR base placement, collision avoidance, and area partitioning and allocation) for appropriately addressing the associated problems. The modules within the framework provide the flexibility of utilizing different methods and algorithms, depending on the requirements of the target application. The framework is tested and validated by extensive analyses of 10 different scenarios with up to 10 AIRs.

覆盖率分析对于由自主工业机器人（AIR）执行的许多覆盖率任务（例如，机器人喷砂，喷漆和表面清洁）至关重要。覆盖率分析使（1）对覆盖任务的AIR进行性能评估（例如，覆盖率和运行效率），以及（2）多AIR系统的配置设计（例如，决定要使用的AIR的数量） ）。大型和复杂结构的Multi-AIR覆盖分析涉及解决各种问题。因此，本文提出了一个框架，该框架结合了各种模块（例如AIR可达性，AIR基础位置，避免碰撞以及区域划分和分配），以适当解决相关问题。框架中的模块提供了利用不同方法和算法的灵活性，取决于目标应用程序的要求。该框架通过对多达10个AIR的10种不同场景的广泛分析进行了测试和验证。