Please use this identifier to cite or link to this item: https://idr.l4.nitk.ac.in/jspui/handle/123456789/8454
Title: Manhattan distance based Voronoi partitioning for efficient multi-robot coverage
Authors: Nair, V.G.
Guruprasad, K.R.
Issue Date: 2020
Citation: Lecture Notes in Electrical Engineering, 2020, Vol.581, , pp.81-90
Abstract: In this paper we address the problem of area coverage using multiple cooperating robots. One of the main concerns of using multiple robots is of avoiding repetitive coverage apart from complete coverage of the given area. Partitioning the area to be covered into cells and allotting one each cell to each of the robots for coverage is a simple and elegant solution for this problem. However, the spacial partitioning may lead to additional problems leading to either incomplete coverage or coverage overlap near the partition boundary. We propose a manhattan distance based Voronoi partitioning scheme of 2 D� 2 D gridded region, where D is the size of the robot footprint. We show that the proposed partitioning scheme completely eliminates coverage gaps and coverage overlap using illustrative results. � 2020, Springer Nature Singapore Pte Ltd.
URI: http://idr.nitk.ac.in/jspui/handle/123456789/8454
Appears in Collections:2. Conference Papers

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