Two-Layer Voronoi Coverage Control for Hybrid Aerial-Ground Robot Teams in Emergency Response: Implementation and Analysis
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| Format: | Preprint |
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2025
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| _version_ | 1866911206533496832 |
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| author | Hutchings, Douglas Abuelsamen, Luai Rajgopal, Karthik |
| author_facet | Hutchings, Douglas Abuelsamen, Luai Rajgopal, Karthik |
| contents | We present a comprehensive two-layer Voronoi coverage control approach for coordinating hybrid aerial-ground robot teams in hazardous material emergency response scenarios. Traditional Voronoi coverage control methods face three critical limitations in emergency contexts: heterogeneous agent capabilities with vastly different velocities, clustered initial deployment configurations, and urgent time constraints requiring rapid response rather than eventual convergence. Our method addresses these challenges through a decoupled two-layer architecture that separately optimizes aerial and ground robot positioning, with aerial agents delivering ground sensors via airdrop to high-priority locations. We provide detailed implementation of bounded Voronoi cell computation, efficient numerical integration techniques for importance-weighted centroids, and robust control strategies that prevent agent trapping. Simulation results demonstrate an 88% reduction in response time, achieving target sensor coverage (18.5% of initial sensor loss) in 25 seconds compared to 220 seconds for ground-only deployment. Complete implementation code is available at https://github.com/dHutchings/ME292B. |
| format | Preprint |
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arxiv_https___arxiv_org_abs_2510_10781 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Two-Layer Voronoi Coverage Control for Hybrid Aerial-Ground Robot Teams in Emergency Response: Implementation and Analysis Hutchings, Douglas Abuelsamen, Luai Rajgopal, Karthik Robotics Multiagent Systems Systems and Control I.2.9; I.2.11 We present a comprehensive two-layer Voronoi coverage control approach for coordinating hybrid aerial-ground robot teams in hazardous material emergency response scenarios. Traditional Voronoi coverage control methods face three critical limitations in emergency contexts: heterogeneous agent capabilities with vastly different velocities, clustered initial deployment configurations, and urgent time constraints requiring rapid response rather than eventual convergence. Our method addresses these challenges through a decoupled two-layer architecture that separately optimizes aerial and ground robot positioning, with aerial agents delivering ground sensors via airdrop to high-priority locations. We provide detailed implementation of bounded Voronoi cell computation, efficient numerical integration techniques for importance-weighted centroids, and robust control strategies that prevent agent trapping. Simulation results demonstrate an 88% reduction in response time, achieving target sensor coverage (18.5% of initial sensor loss) in 25 seconds compared to 220 seconds for ground-only deployment. Complete implementation code is available at https://github.com/dHutchings/ME292B. |
| title | Two-Layer Voronoi Coverage Control for Hybrid Aerial-Ground Robot Teams in Emergency Response: Implementation and Analysis |
| topic | Robotics Multiagent Systems Systems and Control I.2.9; I.2.11 |
| url | https://arxiv.org/abs/2510.10781 |