Figure 5

Concept of the complete system. The proposed system comprises three modules: washing robots, transporter robots, and server robot. Multiple washing robots wash the ground. A washing robot spends over 15 min on each 1 × 1 m² area. Multiple transporter robots transport a washing robot. The washing robot does not have a locomotive mechanism because such would amount to wasted resources considering the 15 min spent on washing one location. The server robot is employed to reduce the size of the system. The server robot supplies water to the washing robot and vacuums the polluted water from the washing robot. Compactness is achieved by integrating the pump with the storage of the washing and polluted waters.