Distributed Area Coverage Control with Imprecise Robot Localization
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arXiv
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| Hauptverfasser: | , , |
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| Format: | Preprint |
| Veröffentlicht: |
2024
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| _version_ | 1866914970557480960 |
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| author | Papatheodorou, Sotiris Stergiopoulos, Yiannis Tzes, Anthony |
| author_facet | Papatheodorou, Sotiris Stergiopoulos, Yiannis Tzes, Anthony |
| contents | This article examines the problem of area coverage for a network of mobile robots with imprecise agent 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, demands the positioning information about its GV-Delaunay neighbors and has an inherent collision avoidance property. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2410_09561 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Distributed Area Coverage Control with Imprecise Robot Localization Papatheodorou, Sotiris Stergiopoulos, Yiannis Tzes, Anthony Systems and Control This article examines the problem of area coverage for a network of mobile robots with imprecise agent 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, demands the positioning information about its GV-Delaunay neighbors and has an inherent collision avoidance property. |
| title | Distributed Area Coverage Control with Imprecise Robot Localization |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2410.09561 |