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https://idr.nitk.ac.in/jspui/handle/123456789/15490
Title: | GeoDesic-VPC: Spatial partitioning for multi-robot coverage problem |
Authors: | Nair V.G. Guruprasad K.R. |
Issue Date: | 2020 |
Citation: | International Journal of Robotics and Automation Vol. 35 , 3 , p. 189 - 198 |
Abstract: | In this paper, we address a problem of area coverage using multiple cooperating robots using a “partition and cover" approach, where the area of interest is decomposed into as many cells as the robots, and each robot is assigned the task of covering a cell. While the most partitioning approaches used in the literature in the context of a robotic coverage problem may result in topologically disconnected cells in the presence of obstacles leading to incomplete coverage, we propose to use geodesic distance-based generalization of the Voronoi partition, ensuring that each cell that is allotted for a robot for coverage is a topologically connected region, and hence, achieving a complete coverage. The proposed multi-robot coverage strategy is demonstrated with simulation in MATLAB and V-rep simulator, using two single-robot coverage algorithms reported in the literature, namely boustrophedon decomposition-based coverage and spanning tree-based coverage algorithms. © 2020 SAE International. All rights reserved. |
URI: | https://doi.org/10.2316/J.2020.206-0303 http://idr.nitk.ac.in/jspui/handle/123456789/15490 |
Appears in Collections: | 1. Journal Articles |
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