Visibility-oriented coverage control of mobile robotic networks on non-convex regions

Yiannis Kantaros, Michalis Thanou, Anthony Tzes

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

Abstract

In this paper, the area coverage problem of non-convex environments by a group of mobile robots is addressed. Each robot is equipped with a sensing device modeled through a range-limited visibility field. The network is assumed to be homogeneous in terms of nodes' sensing capabilities and general characteristics. A gradient-ascent control law is proposed, based on visibility-based Voronoi diagrams, leading the network to the optimal final state in terms of total area coverage. The provided simulation studies illustrate the results derived by the application of the proposed control scheme and validate its effectiveness.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1126-1131
Number of pages6
ISBN (Electronic)9781479936854, 9781479936854
DOIs
StatePublished - Sep 22 2014
Event2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China
Duration: May 31 2014Jun 7 2014

Publication series

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

Other

Other2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Country/TerritoryChina
CityHong Kong
Period5/31/146/7/14

Keywords

  • mobile robotic networks
  • Non-convex area coverage problem
  • visibility-based Voronoi diagrams

ASJC Scopus subject areas

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

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