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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2026
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2603.09596 |
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| _version_ | 1866911503130558464 |
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| author | Guo, Zuyi Zheng, Ronghao Liu, Meiqin Zhang, Senlin |
| author_facet | Guo, Zuyi Zheng, Ronghao Liu, Meiqin Zhang, Senlin |
| contents | To address the challenge of efficient coverage by multi-robot systems in non-convex regions with multiple obstacles, this paper proposes a coverage control method based on the Generalized Voronoi Graph (GVG), which has two phases: Load-Balancing Algorithm phase and Collaborative Coverage phase. In Load-Balancing Algorithm phase, the non-convex region is partitioned into multiple sub-regions based on GVG. Besides, a weighted load-balancing algorithm is developed, which considers the quality differences among sub-regions. By iteratively optimizing the robot allocation ratio, the number of robots in each sub-region is matched with the sub-region quality to achieve load balance. In Collaborative Coverage phase, each robot is controlled by a new controller to effectively coverage the region. The convergence of the method is proved and its performance is evaluated through simulations. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_09596 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | A Generalized Voronoi Graph based Coverage Control Approach for Non-Convex Environment Guo, Zuyi Zheng, Ronghao Liu, Meiqin Zhang, Senlin Robotics To address the challenge of efficient coverage by multi-robot systems in non-convex regions with multiple obstacles, this paper proposes a coverage control method based on the Generalized Voronoi Graph (GVG), which has two phases: Load-Balancing Algorithm phase and Collaborative Coverage phase. In Load-Balancing Algorithm phase, the non-convex region is partitioned into multiple sub-regions based on GVG. Besides, a weighted load-balancing algorithm is developed, which considers the quality differences among sub-regions. By iteratively optimizing the robot allocation ratio, the number of robots in each sub-region is matched with the sub-region quality to achieve load balance. In Collaborative Coverage phase, each robot is controlled by a new controller to effectively coverage the region. The convergence of the method is proved and its performance is evaluated through simulations. |
| title | A Generalized Voronoi Graph based Coverage Control Approach for Non-Convex Environment |
| topic | Robotics |
| url | https://arxiv.org/abs/2603.09596 |