Distributed Area Coverage Control with Imprecise Robot Localization
arXiv:2410.09561 · doi:10.1109/MED.2016.7535920
Abstract
This article examines the problem of area coverage for a network of mobile robots with imprecise agent localization. Each robot has uniform radial sensing ability, governed by first order kinodynamics. The convex-space is partitioned based on the Guaranteed Voronoi (GV) principle and each robot's area of responsibility corresponds to its GV-cell, bounded by hyperbolic arcs. The proposed control law is distributed, demands the positioning information about its GV-Delaunay neighbors and has an inherent collision avoidance property.
In proceedings of the 24th Mediterranean Conference on Control and Automation, 2016. 6 pages, 10 figures, video available at https://sotiris.papatheodorou.xyz/papers/2016_MED_PST/2016_MED_PST.mp4