Conference Papers
Permanent URI for this collectionhttps://idr.nitk.ac.in/handle/123456789/28506
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Item Distributed, complete, multi-robot coverage of initially unknown environments using repartitioning(International Foundation for Autonomous Agents and Multiagent Systems (IFAAMAS) info@ifaamas.org, 2014) Hungerford, K.; Dasgupta, P.; Guruprasad, K.R.We consider the problem of coverage path planning by multiple robots in an environment where the location and geometry of obstacles are initially unknown to the robots. We propose a novel algorithm where the robots initially partition the environment using Voronoi partitioning. Each robot then uses an auction-based algorithm to reallocate inaccessible portions of its initial Voronoi cell to robots in neighboring Voronoi cells so that each robot is responsible for covering a set of contiguous connected regions. We have verified the performance of our algorithm on e-puck robots within the Webots simulator in different environments with different obstacle geometries and shown that it performs complete, non-overlapping coverage. © © 2014, International Foundation for Autonomous Agents and Multiagent Systems (www.ifaamas.org). All rights reserved.