Design of multi coverage path-planning for collaborative manure-removing robots in dairy barns

This EngD research looks at how multiple cleaning robots can work together in dairy barns to keep floors clean while considering the cows welfare. On many modern farms, robots already remove manure, but they usually work alone, which is not ideal in large barns. In this project, different ways of coordinating several robots were tested using computer simulations that realistically model barns, cows, and robot behavior. The study explored questions like where robots should clean, how they should divide the work, and how to avoid collisions with cows. The results show that faster cleaning is sometimes possible, but it can also cause more stress for animals, while gentler approaches may leave some areas dirtier. The research provides practical insights and tools to help farmers and robot designers choose smarter, more animal-friendly cleaning solutions for the future.