Distributed area coverage control with imprecise robot localization

Sotitis Papatheodorou, Yiannis Stergiopoulos, Anthony Tzes

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This article examines the problem of area coverage for a network of mobile robots with imprecise agents' localization. Each robot has uniform radial sensing ability, governed by first order kinodynamics. The convex-space is partitioned based on the Guaranteed Voronoi (GV) principle and each robots area of responsibility corresponds to its GV-cell, bounded by hyperbolic arcs. The proposed control law is distributed, demands the positioning information about its GV-Delaunay neighbors and has an inherent collision avoidance property.

Original languageEnglish (US)
Title of host publication24th Mediterranean Conference on Control and Automation, MED 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages214-219
Number of pages6
ISBN (Electronic)9781467383455
DOIs
StatePublished - Aug 5 2016
Event24th Mediterranean Conference on Control and Automation, MED 2016 - Athens, Greece
Duration: Jun 21 2016Jun 24 2016

Publication series

Name24th Mediterranean Conference on Control and Automation, MED 2016

Other

Other24th Mediterranean Conference on Control and Automation, MED 2016
CountryGreece
CityAthens
Period6/21/166/24/16

Keywords

  • Robot swarms
  • Unmanned systems

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Control and Optimization
  • Modeling and Simulation

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