Distributed, complete, multi-robot coverage of initially unknown environments using repartitioning

We consider the problem of coverage path planning by multiple robots in an environment where the location and geometry of obstacles are initially unknown to the robots. We propose a novel algorithm where the robots initially partition the environment using Voronoi partitioning. Each robot then uses an auction-based algorithm to reallocate inaccessible portions of its initial Voronoi cell to robots in neighboring Voronoi cells so that each robot is responsible for covering a set of contiguous connected regions. We have verified the performance of our algorithm on e-puck robots within the Webots simulator in different environments with different obstacle geometries and shown that it performs complete, non-overlapping coverage.