TY - GEN
T1 - Distributed area coverage control with imprecise robot localization
AU - Papatheodorou, Sotitis
AU - Stergiopoulos, Yiannis
AU - Tzes, Anthony
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/8/5
Y1 - 2016/8/5
N2 - 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.
AB - 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.
KW - Robot swarms
KW - Unmanned systems
UR - http://www.scopus.com/inward/record.url?scp=84986207051&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84986207051&partnerID=8YFLogxK
U2 - 10.1109/MED.2016.7535920
DO - 10.1109/MED.2016.7535920
M3 - Conference contribution
AN - SCOPUS:84986207051
T3 - 24th Mediterranean Conference on Control and Automation, MED 2016
SP - 214
EP - 219
BT - 24th Mediterranean Conference on Control and Automation, MED 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 24th Mediterranean Conference on Control and Automation, MED 2016
Y2 - 21 June 2016 through 24 June 2016
ER -