Voronoi Coverage of Non-Convex Environments with a Group of Networked Robots
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Rus_Voronoi coverage.pdf
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696.31 KB
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Adobe PDF
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Author(s)
Breitenmoser, Andreas
Schwager, Mac
Metzger, Jean-Claude
Siegwart, Roland
Rus, Daniela L.
Date Issued
July 2010
Journal
IEEE International Conference on Robotics and Automation 2010 (ICRA)
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Breitenmoser, Andreas et al. “Voronoi Coverage of Non-convex Environments with a Group of Networked Robots.” IEEE International Conference on Robotics and Automation 2010 (ICRA). 4982–4989. © Copyright 2010 IEEE
Version
Final published version
Abstract
This paper presents a solution to decentralized Voronoi coverage in non-convex polygonal environments. We show that complications arise when existing approaches to Voronoi coverage are applied for deploying a group of robots in non-convex environments. We present an algorithm that is guaranteed to converge to a local optimum. Our algorithm combines classical Voronoi coverage with the Lloyd algorithm and the local path planning algorithm TangentBug to compute the motion of the robots around obstacles and corners. We present the algorithm and prove convergence and optimality. We also discuss experimental results from an implementation with five robots.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/ROBOT.2010.5509696
