Related papers: Higher order mobile coverage control with applicat…
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…
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,…
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…
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…
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…
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…
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 propose a distributed control algorithm for a multi-agent network whose agents deploy over a cluttered region in accordance with a time-varying coverage density function while avoiding collisions with all obstacles they encounter. Our…
Voronoi coverage control is a particular problem of importance in the area of multi-robot systems, which considers a network of multiple autonomous robots, tasked with optimally covering a large area. This is a common task for fleets of…
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…
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…
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…
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…
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…
This paper presents control and coordination algorithms for groups of vehicles. The focus is on autonomous vehicle networks performing distributed sensing tasks where each vehicle plays the role of a mobile tunable sensor. The paper…
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…
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…
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 the problem of sensor placement in environments in which localization is a necessity, such as ad-hoc wireless sensor networks that allow the placement of a few anchors that know their location or sensor arrays that are tracking a…
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…