Distributed area coverage control with imprecise robot localization: Simulation and experimental studies
Systems and Control
2020-02-12 v1 Robotics
Abstract
This article examines the area coverage problem for a network of mobile robots with imprecise agents' 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, demanding the positioning information about its GV-Delaunay neighbors. Simulation and experimental studies are offered to highlight the efficiency of the proposed control law.
Keywords
Cite
@article{arxiv.1612.04704,
title = {Distributed area coverage control with imprecise robot localization: Simulation and experimental studies},
author = {Sotiris Papatheodorou and Anthony Tzes and Konstantinos Giannousakis and Yiannis Stergiopoulos},
journal= {arXiv preprint arXiv:1612.04704},
year = {2020}
}
Comments
12 pages, 28 figures, submitted to IEEE Transactions on Automatic Control in 14 December 2016