
Departmental Papers (ESE)
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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.
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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
5-16-2016
Publication Source
2016 IEEE International Conference on Robotics and Automation (ICRA)
Start Page
4259
Last Page
4266
DOI
10.1109/ICRA.2016.7487622
Keywords
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} }
Included in
Controls and Control Theory Commons, Control Theory Commons, Dynamic Systems Commons, Non-linear Dynamics Commons, Robotics Commons, Systems Engineering Commons
Date Posted: 26 October 2016
This document has been peer reviewed.