Experimental studies on distributed control for area coverage using mobile robots

Sotiris Papatheodorou, Anthony Tzes, Konstantinos Giannousakis

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

Abstract

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.

Original languageEnglish (US)
Title of host publication2017 25th Mediterranean Conference on Control and Automation, MED 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages690-695
Number of pages6
ISBN (Electronic)9781509045334
DOIs
StatePublished - Jul 18 2017
Event25th Mediterranean Conference on Control and Automation, MED 2017 - Valletta, Malta
Duration: Jul 3 2017Jul 6 2017

Publication series

Name2017 25th Mediterranean Conference on Control and Automation, MED 2017

Other

Other25th Mediterranean Conference on Control and Automation, MED 2017
CountryMalta
CityValletta
Period7/3/177/6/17

Keywords

  • Autonomous agents
  • Cooperative systems
  • Mobile robots
  • Multi-agent systems
  • Multi-robot systems

ASJC Scopus subject areas

  • Control and Optimization
  • Modeling and Simulation

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