Related papers: Coverage Optimization using Generalized Voronoi Pa…
In this paper we propose search strategies for heterogeneous multi-agent systems. Multiple agents, equipped with communication gadget, computational capability, and sensors having heterogeneous capabilities, are deployed in the search space…
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…
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…
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…
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…
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…
We propose distributed algorithms to automatically deploy a group of robotic agents and provide coverage of a discretized environment represented by a graph. The classic Lloyd approach to coverage optimization involves separate centering…
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,…
We consider a scenario where the aim of a group of agents is to perform the optimal coverage of a region according to a sensory function. In particular, centroidal Voronoi partitions have to be computed. The difficulty of the task is that…
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 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…
IoT data collection networks have recently become one of the important research areas due to their fundamental role and wide application in many domains. The establishment of networks of objects is based essentially on the deployment of…
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…
Coverage control has been widely used for constructing mobile sensor network such as for environmental monitoring, and one of the most commonly used methods is the Lloyd algorithm based on Voronoi partitions. However, when this method is…
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…
This article examines the problem of area coverage for a network of mobile robots with imprecise agent localization. Each robot has uniform radial sensing ability, governed by first order kinodynamics. The convex-space is partitioned based…
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…
Multi-robot coverage is crucial in numerous applications, including environmental monitoring, search and rescue operations, and precision agriculture. In modern applications, a multi-robot team must collaboratively explore unknown spatial…
In this paper we study the problem of steering a team of Unmanned Aerial Vehicles (UAVs) toward a static configuration which maximizes the visibility of a 3D environment. The UAVs are assumed to be equipped with visual sensors constrained…
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…