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

Yiannis Kantaros, Michalis Thanou, Anthony Tzes

Research output: Contribution to journalConference articlepeer-review


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)
Article number6906995
Pages (from-to)1126-1131
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
StatePublished - Sep 22 2014
Event2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China
Duration: May 31 2014Jun 7 2014


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

ASJC Scopus subject areas

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


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