Anchor-Oriented Localized Voronoi Partitioning for GPS-denied Multi-Robot Coverage
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arXiv
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| Autores principales: | , , |
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| Formato: | Preprint |
| Publicado: |
2024
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| _version_ | 1866916316254830592 |
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| author | Munir, Aiman Latif, Ehsan Parasuraman, Ramviyas |
| author_facet | Munir, Aiman Latif, Ehsan Parasuraman, Ramviyas |
| contents | Multi-robot coverage is crucial in numerous applications, including environmental monitoring, search and rescue operations, and precision agriculture. In modern applications, a multi-robot team must collaboratively explore unknown spatial fields in GPS-denied and extreme environments where global localization is unavailable. Coverage algorithms typically assume that the robot positions and the coverage environment are defined in a global reference frame. However, coordinating robot motion and ensuring coverage of the shared convex workspace without global localization is challenging. This paper proposes a novel anchor-oriented coverage (AOC) approach to generate dynamic localized Voronoi partitions based around a common anchor position. We further propose a consensus-based coordination algorithm that achieves agreement on the coverage workspace around the anchor in the robots' relative frames of reference. Through extensive simulations and real-world experiments, we demonstrate that the proposed anchor-oriented approach using localized Voronoi partitioning performs as well as the state-of-the-art coverage controller using GPS. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2407_06296 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Anchor-Oriented Localized Voronoi Partitioning for GPS-denied Multi-Robot Coverage Munir, Aiman Latif, Ehsan Parasuraman, Ramviyas Robotics Multiagent Systems Multi-robot coverage is crucial in numerous applications, including environmental monitoring, search and rescue operations, and precision agriculture. In modern applications, a multi-robot team must collaboratively explore unknown spatial fields in GPS-denied and extreme environments where global localization is unavailable. Coverage algorithms typically assume that the robot positions and the coverage environment are defined in a global reference frame. However, coordinating robot motion and ensuring coverage of the shared convex workspace without global localization is challenging. This paper proposes a novel anchor-oriented coverage (AOC) approach to generate dynamic localized Voronoi partitions based around a common anchor position. We further propose a consensus-based coordination algorithm that achieves agreement on the coverage workspace around the anchor in the robots' relative frames of reference. Through extensive simulations and real-world experiments, we demonstrate that the proposed anchor-oriented approach using localized Voronoi partitioning performs as well as the state-of-the-art coverage controller using GPS. |
| title | Anchor-Oriented Localized Voronoi Partitioning for GPS-denied Multi-Robot Coverage |
| topic | Robotics Multiagent Systems |
| url | https://arxiv.org/abs/2407.06296 |