Please use this identifier to cite or link to this item: https://idr.l4.nitk.ac.in/jspui/handle/123456789/8537
Title: Multi-robot coverage using Voronoi partitioning based on geodesic distance
Authors: Nair, V.G.
Guruprasad, K.R.
Issue Date: 2020
Citation: Lecture Notes in Electrical Engineering, 2020, Vol.581, , pp.59-66
Abstract: In this paper we propose Geodesic-VPC, a �partition� and �cover� strategy for a multi-robot system using Voronoi partitioning based on geodesic distance metric in the place of the usual Euclidean distance. Each robot is responsible for covering the corresponding geodesic-Voronoi cell using a single-robot coverage strategy. The proposed partitioning scheme ensures that Voronoi cells are contiguous even in the presence of obstacles. We demonstrate that if the single-robot coverage strategy is capable of providing a complete and non-repetitive coverage, then the proposed Geodesic-VPC strategy provides a complete and non-repetitive coverage. We use spanning tree-based coverage algorithm as the underlying single-robot coverage strategy for the purpose of demonstration, though any existing single-robot coverage algorithm can be used. � 2020, Springer Nature Singapore Pte Ltd.
URI: http://idr.nitk.ac.in/jspui/handle/123456789/8537
Appears in Collections:2. Conference Papers

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