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arXiv · 1612.04704

Distributed area coverage control with imprecise robot localization: Simulation and experimental studies

Sotiris Papatheodorou·Anthony Tzes·Konstantinos Giannousakis·Yiannis Stergiopoulos
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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.

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BibTeXRIS

Sotiris Papatheodorou, Anthony Tzes, Konstantinos Giannousakis, Yiannis Stergiopoulos. 2016-12-14. Distributed area coverage control with imprecise robot localization: Simulation and experimental studies. https://doi.org/10.1177/1729881418797494

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