Distributed area coverage control with imprecise robot localization: Simulation and experimental studies
This addresses coverage control in robotics for applications like surveillance or environmental monitoring, but it is incremental as it builds on existing Voronoi methods with localization uncertainty.
The paper tackled the area coverage problem for mobile robots with imprecise localization by proposing a distributed control law based on Guaranteed Voronoi partitioning, achieving efficient coverage in simulations and experiments.
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.