Distributed control of mobile robots in an environment with static obstacles

Konstantinos Giannousakis; Anthony Tzes

doi:10.1049/csy2.12018

Distributed control of mobile robots in an environment with static obstacles

Konstantinos Giannousakis, Anthony Tzes

Research output: Contribution to journal › Article › peer-review

Abstract

This study addresses the problem of deploying a group of mobile robots over a non-convex region with obstacles. Assuming that the robots are equipped with omnidirectional range sensors of common radius, disjoint subsets of the sensed area are assigned to the robots. These proximity-based subsets are calculated using the visibility notion, where the cell of each robot is treated as an opaque obstacle for the other robots. Based on that, optimal spatially distributed coordination algorithms are derived for the area coverage problem and for the homing problem, where the swarm needs to move to specific locations. Experimental studies demonstrate the results.

Original language	English (US)
Pages (from-to)	128-139
Number of pages	12
Journal	IET Cyber-systems and Robotics
Volume	3
Issue number	2
DOIs	https://doi.org/10.1049/csy2.12018
State	Published - Jun 2021

ASJC Scopus subject areas

Artificial Intelligence
Human-Computer Interaction
Computational Theory and Mathematics
Computer Networks and Communications
Information Systems
Hardware and Architecture

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10.1049/csy2.12018

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AB - This study addresses the problem of deploying a group of mobile robots over a non-convex region with obstacles. Assuming that the robots are equipped with omnidirectional range sensors of common radius, disjoint subsets of the sensed area are assigned to the robots. These proximity-based subsets are calculated using the visibility notion, where the cell of each robot is treated as an opaque obstacle for the other robots. Based on that, optimal spatially distributed coordination algorithms are derived for the area coverage problem and for the homing problem, where the swarm needs to move to specific locations. Experimental studies demonstrate the results.

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Distributed control of mobile robots in an environment with static obstacles

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