Related papers: Generalized Voronoi Partition Based Multi-Agent Se…
In this paper a generalization of the Voronoi partition is used for optimal deployment of autonomous agents carrying sensors with heterogeneous capabilities, to maximize the sensor coverage. The generalized centroidal Voronoi configuration,…
In this paper, we consider a class of workspace partitioning problems that arise in the context of area coverage and spatial load balancing for spatially distributed heterogeneous multi-agent networks. It is assumed that each agent has…
This paper considers a class of deploy and search strategies for multi-robot systems and evaluates their performance. The application framework used is a system of autonomous mobile robots equipped with required sensors and communication…
In this paper, an efficient deployment strategy is proposed for a network of mobile and static sensors with nonidentical sensing and communication radii. The multiplicatively weighted Voronoi (MW-Voronoi) diagram is used to partition the…
Multi-robot systems have increasingly become instrumental in tackling search and coverage problems. However, the challenge of optimizing task efficiency without compromising task success still persists, particularly in expansive,…
This paper introduces a novel approach to solve the coverage optimization problem in multi-agent systems. The proposed technique offers an optimal solution with a lower cost with respect to conventional Voronoi-based techniques by…
The challenge of efficient target searching in vast natural environments has driven the need for advanced multi-UAV active search strategies. This paper introduces a novel method in which global and local information is adeptly merged to…
This paper addresses the coverage control problem of multi-agent systems in the uncertain environment. With the aid of Voronoi partition, a distributed coverage control formulation of multi-agent system is proposed to complete the workload…
We study a heterogeneous two-tier wireless sensor network in which N heterogeneous access points (APs) collect sensing data from densely distributed sensors and then forward the data to M heterogeneous fusion centers (FCs). This…
Most current results on coverage control using mobile sensors require that one partitioned cell is associated with precisely one sensor. In this paper, we consider a class of coverage control problems involving higher order Voronoi…
We present a decentralized path-planning algorithm for navigating multiple differential-drive robots in dense environments. In contrast to prior decentralized methods, we propose a novel congestion metric-based replanning that couples local…
This paper presents coordination algorithms for groups of mobile agents performing deployment and coverage tasks. As an important modeling constraint, we assume that each mobile agent has a limited sensing/communication radius. Based on the…
This work addresses the collaborative multi-robot autonomous online exploration problem, particularly focusing on distributed exploration planning for dynamically balanced exploration area partition and task allocation among a team of…
In distributed mobile sensing applications, networks of agents that are heterogeneous respecting both actuation as well as body and sensory footprint are often modelled by recourse to power diagrams --- generalized Voronoi diagrams with…
This paper considers the problem of planning trajectories for a team of sensor-equipped robots to reduce uncertainty about a dynamical process. Optimizing the trade-off between information gain and energy cost (e.g., control effort,…
Most current results on coverage control using mobile sensors require that one partitioned cell is the sole responsibility of one sensor. In this paper, we consider a class of generalized Voronoi coverage control problems by using higher…
Multi-agent patrolling is a key problem in a variety of domains such as intrusion detection, area surveillance, and policing which involves repeated visits by a group of agents to specified points in an environment. While the problem is…
We present a comprehensive two-layer Voronoi coverage control approach for coordinating hybrid aerial-ground robot teams in hazardous material emergency response scenarios. Traditional Voronoi coverage control methods face three critical…
We study a heterogeneous two-tier wireless sensor network in which N heterogeneous access points (APs) collect sensing data from densely distributed sensors and then forward the data to M heterogeneous fusion centers (FCs). This…
The area query, to find all elements contained in a specified area from a certain set of spatial objects, is a very important spatial query widely required in various fields. A number of approaches have been proposed to implement this…