To address the challenge of efficient coverage by multi-robot systems in non-convex regions with multiple obstacles, this paper proposes a coverage control method based on the Generalized Voronoi Graph (GVG), which has two phases: Load-Balancing Algorithm phase and Collaborative Coverage phase. In Load-Balancing Algorithm phase, the non-convex region is partitioned into multiple sub-regions based on GVG. Besides, a weighted load-balancing algorithm is developed, which considers the quality differences among sub-regions. By iteratively optimizing the robot allocation ratio, the number of robots in each sub-region is matched with the sub-region quality to achieve load balance. In Collaborative Coverage phase, each robot is controlled by a new controller to effectively coverage the region. The convergence of the method is proved and its performance is evaluated through simulations.
Cite
@article{arxiv.2603.09596,
title = {A Generalized Voronoi Graph based Coverage Control Approach for Non-Convex Environment},
author = {Zuyi Guo and Ronghao Zheng and Meiqin Liu and Senlin Zhang},
journal= {arXiv preprint arXiv:2603.09596},
year = {2026}
}