TY - GEN
T1 - Experimental studies on distributed control for area coverage using mobile robots
AU - Papatheodorou, Sotiris
AU - Tzes, Anthony
AU - Giannousakis, Konstantinos
N1 - Funding Information:
†The authors are with the Department of Electrical & Computer Engineering, University of Patras, Rio 26500, Greece ‡The author is with New York University Abu Dhabi, Electrical and Computer Engineering, Abu Dhabi, P.O.Box 129188, United Arab Emirates Corresponding author’s e-mail: [email protected] This work has received partial funding from the European Union Horizon 2020 Research and Innovation Programme under the Grant Agreement No. 644128, AEROWORKS
Publisher Copyright:
© 2017 IEEE.
PY - 2017/7/18
Y1 - 2017/7/18
N2 - This article examines the experimental issues associated with the area coverage problem using a network of mobile robots. The developed schemes in the literature assume an unrealistic perfect knowledge of each point-robot's position. To account for the imprecise robots' localization, the covered space partitioning relies on the Guaranteed Voronoi (GV) principle, under the assumption of uniform radial sensing for each agent. The distributed nature of the developed algorithm assigns to each robot a GV-cell which is bounded by hyperbolic arcs. The only required information for the implementation of this scheme is the relative positioning from each robot to its GV-Delaunay neighbors. Simulation and experimental studies are offered to highlight the efficiency of the proposed distributed experimental-oriented control law.
AB - This article examines the experimental issues associated with the area coverage problem using a network of mobile robots. The developed schemes in the literature assume an unrealistic perfect knowledge of each point-robot's position. To account for the imprecise robots' localization, the covered space partitioning relies on the Guaranteed Voronoi (GV) principle, under the assumption of uniform radial sensing for each agent. The distributed nature of the developed algorithm assigns to each robot a GV-cell which is bounded by hyperbolic arcs. The only required information for the implementation of this scheme is the relative positioning from each robot to its GV-Delaunay neighbors. Simulation and experimental studies are offered to highlight the efficiency of the proposed distributed experimental-oriented control law.
KW - Autonomous agents
KW - Cooperative systems
KW - Mobile robots
KW - Multi-agent systems
KW - Multi-robot systems
UR - http://www.scopus.com/inward/record.url?scp=85027885040&partnerID=8YFLogxK
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U2 - 10.1109/MED.2017.7984198
DO - 10.1109/MED.2017.7984198
M3 - Conference contribution
AN - SCOPUS:85027885040
T3 - 2017 25th Mediterranean Conference on Control and Automation, MED 2017
SP - 690
EP - 695
BT - 2017 25th Mediterranean Conference on Control and Automation, MED 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 25th Mediterranean Conference on Control and Automation, MED 2017
Y2 - 3 July 2017 through 6 July 2017
ER -