Distributed coverage control for concave areas by a heterogeneous Robot-Swarm with visibility sensing constraints

Yiannis Kantaros; Michalis Thanou; Anthony Tzes

doi:10.1016/j.automatica.2014.12.034

Distributed coverage control for concave areas by a heterogeneous Robot-Swarm with visibility sensing constraints

Yiannis Kantaros, Michalis Thanou, Anthony Tzes

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

Abstract

This article addresses the coverage problem of non-convex environments by a mobile multi-robot system characterized by omnidirectional 'field of view' sensing capabilities. The mobile robotic network is heterogeneous in terms of robots' sensing ranges. Moreover, each robot is capable of communicating with all robots located within a predefined distance from its position. A distributed gradient-based coordination scheme is proposed, based on a novel partitioning of the environment, leading the network to a local optimum of an area-wise criterion. Simulation studies are carried out verifying the efficiency of the proposed distributed control law.

Original language	English (US)
Pages (from-to)	195-207
Number of pages	13
Journal	Automatica
Volume	53
DOIs	https://doi.org/10.1016/j.automatica.2014.12.034
State	Published - Mar 1 2015

Keywords

Area coverage problem
Mobile robotic networks
Non-convex environment
Visibility-based power diagram

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

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10.1016/j.automatica.2014.12.034

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abstract = "This article addresses the coverage problem of non-convex environments by a mobile multi-robot system characterized by omnidirectional 'field of view' sensing capabilities. The mobile robotic network is heterogeneous in terms of robots' sensing ranges. Moreover, each robot is capable of communicating with all robots located within a predefined distance from its position. A distributed gradient-based coordination scheme is proposed, based on a novel partitioning of the environment, leading the network to a local optimum of an area-wise criterion. Simulation studies are carried out verifying the efficiency of the proposed distributed control law.",

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AB - This article addresses the coverage problem of non-convex environments by a mobile multi-robot system characterized by omnidirectional 'field of view' sensing capabilities. The mobile robotic network is heterogeneous in terms of robots' sensing ranges. Moreover, each robot is capable of communicating with all robots located within a predefined distance from its position. A distributed gradient-based coordination scheme is proposed, based on a novel partitioning of the environment, leading the network to a local optimum of an area-wise criterion. Simulation studies are carried out verifying the efficiency of the proposed distributed control law.

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KW - Non-convex environment

KW - Visibility-based power diagram

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Distributed coverage control for concave areas by a heterogeneous Robot-Swarm with visibility sensing constraints

Abstract

Keywords

ASJC Scopus subject areas

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