TY - JOUR
T1 - Distributed coverage control for concave areas by a heterogeneous Robot-Swarm with visibility sensing constraints
AU - Kantaros, Yiannis
AU - Thanou, Michalis
AU - Tzes, Anthony
N1 - Funding Information:
He has received research funding from various organizations including NASA, the National (US) Science Foundation, and the European Union (FP6, H2020). He has been a member of the Greek committee of the European Control Association (EUCA), member at several committees of the International Federation of Automatic Control (IFAC), and until 2008 Greece’s national representative to EU’s FP7’s thematic area “Regions of Knowledge, Research Potential and Coherent Development of Policies”. He has served in various positions (Program Chairman (MIM’00), Organizing Committee Chairman (ECC’07), Chairman (MED2011)), and as IPC-member at several international conferences. He is the leader and principal investigator of the “Applied Networked Mechatronics Systems group”. He has authored more than 70 (200) papers published in international technical journals (conferences) and served in the editorial board of several journals.
Publisher Copyright:
© 2014 Elsevier Ltd. All rights reserved.
PY - 2015/3/1
Y1 - 2015/3/1
N2 - 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.
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.
KW - Area coverage problem
KW - Mobile robotic networks
KW - Non-convex environment
KW - Visibility-based power diagram
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U2 - 10.1016/j.automatica.2014.12.034
DO - 10.1016/j.automatica.2014.12.034
M3 - Article
AN - SCOPUS:84924116370
SN - 0005-1098
VL - 53
SP - 195
EP - 207
JO - Automatica
JF - Automatica
ER -