Distributed Coverage and Exploration in Unknown Non-convex Environments
نویسندگان
چکیده
We consider the problem of multi-robot exploration and coverage in unknown non-convex environments. The contributions of the work include (1) the presentation of a distributed algorithm that computes the generalized Voronoi tessellation of non-convex environments (using a discrete representation) in real-time for use in feedback control laws; and (2) the extension of this method to entropy-based metrics that allow for cooperative coverage control in unknown non-convex environments. Simulation results demonstrate the application of the control methodology for cooperative exploration and coverage in an office environment.
منابع مشابه
Multi-robot Coverage and Exploration on Riemannian Manifolds with Boundary
Multi-robot coverage and exploration are fundamental problems in robotics. A widely-used, efficient and distributable algorithm for achieving coverage of a convex environment with Euclidean metric is that proposed by Cortes, et al., which is based on the discrete-time Lloyd’s algorithm. This algorithm is not directly applicable to general Riemannian manifolds with boundary that are non-convex a...
متن کاملMulti-robot Coverage and Exploration in Non-Euclidean Metric Spaces
Multi-robot coverage and exploration is a fundamental problem in robotics. A widely-used, efficient and distributable algorithm for achieving coverage of a convex environment with Euclidean metric is that proposed by Cortes, et al., which is based on the discrete-time Lloyd’s algorithm. It is significantly difficult to achieve the same in non-convex environments and with non-Euclidean metrics. ...
متن کاملMulti-robot coverage and exploration on Riemannian manifolds with boundaries
Multi-robot coverage and exploration are fundamental problems in robotics. A widely used, efficient and distributable algorithm for achieving coverage of a convex environment with Euclidean metrics is that proposed by Cortes which is based on the discrete-time Lloyd’s algorithm. This algorithm is not directly applicable to general Riemannian manifolds with boundaries that are non-convex and are...
متن کاملCoalition game-based distributed coverage of unknown environments by robot swarms
We consider the problem of distributed exploration or coverage of an unknown environment by a swarm of mobile minirobots that have limited memory, computation and communication capabilities. We describe a novel mechanism of distributed coverage of an unknown environment by swarmed robots that can dynamically merge and split into structured teams or exchange team members to improve the efficienc...
متن کاملGlobally Optimal Coverage for Non-convex Environments with Mobile Sensor Networks
The paper investigates the problem of achieving globally optimal coverage for non-convex grid environments with a network of mobile sensor nodes. A distributed algorithm is proposed to solve the problem, which is locally implementable on individual sensor. That is, each mobile sensor only requires to update its current position to an adjacent location with certain probability relying on its cov...
متن کامل