Distributed coverage using geodesic metric for non-convex environments

Michalis Thanou, Yiannis Stergiopoulos, Anthony Tzes

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

Abstract

The area coverage problem of non-convex environments by a group of mobile agents is examined is this article. The network is consisted of mobile sensing nodes whose sensing pattern is uniform based on the geodesic metric. The space under consideration is partitioned based on the geodesic distance among the nodes (geodesic Voronoi diagram), resulting in compact Voronoi sets. A distributed coordination scheme is proposed, that leads the network towards its optimal state (in area-wise terms) in a monotonic manner. Unlike previous results that rely on the Euclidean distance and/or the Voronoi partitioning of the convex hull of the environment, the control law results in motions of the mobile nodes in the interior of the environment. Simulation results further indicate the efficiency of the proposed approach.

Original languageEnglish (US)
Title of host publication2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Pages933-938
Number of pages6
DOIs
StatePublished - 2013
Event2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe, Germany
Duration: May 6 2013May 10 2013

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2013 IEEE International Conference on Robotics and Automation, ICRA 2013
CountryGermany
CityKarlsruhe
Period5/6/135/10/13

Keywords

  • Mobile sensor networks
  • distributed coverage control
  • geodesic Voronoi diagram
  • non-convex environments

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Thanou, M., Stergiopoulos, Y., & Tzes, A. (2013). Distributed coverage using geodesic metric for non-convex environments. In 2013 IEEE International Conference on Robotics and Automation, ICRA 2013 (pp. 933-938). [6630685] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ICRA.2013.6630685