Multi-Robot Voronoi Coverage under Actuation and Measurement Noise
نویسندگان
چکیده
In this paper, we study the problem of multi-robot coverage when the evolution of the robots’ positions is uncertain. More precisely, we use the popular Voronoi coverage control approach [1], which is based on the iterative construction of a centroidal Voronoi tessellation, and ask what happens to the control law and the Voronoi tessellation under actuation and measurement noise. We present a first description and analysis of the phenomena (stability of the controller, uncertainty of the Voronoi cells) and show future research directions.
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