Voronoi-Based Coverage Control of Heterogeneous Disk-Shaped Robots

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Departmental Papers (ESE)
General Robotics, Automation, Sensing and Perception Laboratory
Kod*lab
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GRASP
Kodlab
Voronoi-based coveage control
Distributed mobile sensing
Collision avoidance
Congestion management heuristic
Heterogeneous mobile sensor networks
Generalized Voronoi Diagrams
Power Diagrams
Controls and Control Theory
Control Theory
Dynamic Systems
Electrical and Computer Engineering
Engineering
Non-linear Dynamics
Robotics
Systems Engineering
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This work was supported in part by AFOSR under the CHASE MURI FA9550–10–1−0567.
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Abstract

In distributed mobile sensing applications, networks of agents that are heterogeneous respecting both actuation as well as body and sensory footprint are often modelled by recourse to power diagrams — generalized Voronoi diagrams with additive weights. In this paper we adapt the body power diagram to introduce its “free subdiagram,” generating a vector field planner that solves the combined sensory coverage and collision avoidance problem via continuous evaluation of an associated constrained optimization problem. We propose practical extensions (a heuristic congestion manager that speeds convergence and a lift of the point particle controller to the more practical differential drive kinematics) that maintain the convergence and collision guarantees. For more information: Kod*lab

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2016-05-16
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Departmental Papers (ESE)
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2023-05-17T15:50:43.000
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@InProceedings{arslan_kod_ICRA2016A, Title = {Voronoi-Based Coverage Control of Heterogeneous Disk-Shaped Robots}, Author = {Omur Arslan and Daniel E. Koditschek}, Booktitle = {Robotics and Automation, 2016 IEEE International Conference on}, Year = {2016}, Pages = {4259-4266}, DOI = {10.1109/ICRA.2016.7487622} }
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