Hungerford, K.Dasgupta, P.Guruprasad, K.R.2020-03-302020-03-30201413th International Conference on Autonomous Agents and Multiagent Systems, AAMAS 2014, 2014, Vol.2, , pp.1453-1454https://idr.nitk.ac.in/handle/123456789/7752We 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. Copyright � 2014, International Foundation for Autonomous Agents and Multiagent Systems (www.ifaamas.org). All rights reserved.Book chapter