Complete Coverage of an Initially Unknown Environment by Multiple Robots using Voronoi Partition∗
نویسندگان
چکیده
In this paper an on-line distributed algorithm, namely, Voronoi Partition-based Coverage (VPC), is proposed to solve the problem of complete coverage of a geographical region with known boundary and unknown obstacles using multiple robots. The region is decomposed into Voronoi cells based on the initial positions of robots. Each robot is responsible for covering its Voronoi cell. It is shown that the proposed coverage algorithm is guaranteed to completely cover the region without any repeated coverage, if each robot uses a complete non-overlapping single robot coverage algorithm. It is also shown that the proposed algorithm is robust to failure of some of the robots. The proposed VPC algorithm is illustrated with the help of simulation experiments using realistic Corobot model in Webots robot simulation software, using on-line spanning tree coverage algorithm for individual robots.
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