Departmental Papers (ESE)



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.

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Sponsor Acknowledgements

This work was supported in part by AFOSR under the CHASE MURI FA9550–10–1−0567.

Document Type

Conference Paper

Subject Area

GRASP, Kodlab

Date of this Version


Publication Source

2016 IEEE International Conference on Robotics and Automation (ICRA)

Start Page


Last Page





Voronoi-based coveage control, Distributed mobile sensing, Collision avoidance, Congestion management heuristic, Heterogeneous mobile sensor networks, Generalized Voronoi Diagrams, Power Diagrams

Bib Tex

@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} }



Date Posted: 26 October 2016

This document has been peer reviewed.