Distributed area coverage control with imprecise robot localization

Sotitis Papatheodorou, Yiannis Stergiopoulos, Antonios Tzes

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Abstract

    This article examines the problem of area coverage for a network of mobile robots with imprecise agents' localization. Each robot has uniform radial sensing ability, governed by first order kinodynamics. The convex-space is partitioned based on the Guaranteed Voronoi (GV) principle and each robots area of responsibility corresponds to its GV-cell, bounded by hyperbolic arcs. The proposed control law is distributed, demands the positioning information about its GV-Delaunay neighbors and has an inherent collision avoidance property.

    Original languageEnglish (US)
    Title of host publication24th Mediterranean Conference on Control and Automation, MED 2016
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages214-219
    Number of pages6
    ISBN (Electronic)9781467383455
    DOIs
    StatePublished - Aug 5 2016
    Event24th Mediterranean Conference on Control and Automation, MED 2016 - Athens, Greece
    Duration: Jun 21 2016Jun 24 2016

    Other

    Other24th Mediterranean Conference on Control and Automation, MED 2016
    CountryGreece
    CityAthens
    Period6/21/166/24/16

    Fingerprint

    Voronoi
    Coverage
    Robot
    Robots
    Voronoi Cell
    Collision Avoidance
    Delaunay
    Collision avoidance
    Mobile Robot
    Mobile robots
    Positioning
    Arc of a curve
    Sensing
    First-order

    Keywords

    • Robot swarms
    • Unmanned systems

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Control and Optimization
    • Modeling and Simulation

    Cite this

    Papatheodorou, S., Stergiopoulos, Y., & Tzes, A. (2016). Distributed area coverage control with imprecise robot localization. In 24th Mediterranean Conference on Control and Automation, MED 2016 (pp. 214-219). [7535920] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/MED.2016.7535920

    Distributed area coverage control with imprecise robot localization. / Papatheodorou, Sotitis; Stergiopoulos, Yiannis; Tzes, Antonios.

    24th Mediterranean Conference on Control and Automation, MED 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 214-219 7535920.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Papatheodorou, S, Stergiopoulos, Y & Tzes, A 2016, Distributed area coverage control with imprecise robot localization. in 24th Mediterranean Conference on Control and Automation, MED 2016., 7535920, Institute of Electrical and Electronics Engineers Inc., pp. 214-219, 24th Mediterranean Conference on Control and Automation, MED 2016, Athens, Greece, 6/21/16. https://doi.org/10.1109/MED.2016.7535920
    Papatheodorou S, Stergiopoulos Y, Tzes A. Distributed area coverage control with imprecise robot localization. In 24th Mediterranean Conference on Control and Automation, MED 2016. Institute of Electrical and Electronics Engineers Inc. 2016. p. 214-219. 7535920 https://doi.org/10.1109/MED.2016.7535920
    Papatheodorou, Sotitis ; Stergiopoulos, Yiannis ; Tzes, Antonios. / Distributed area coverage control with imprecise robot localization. 24th Mediterranean Conference on Control and Automation, MED 2016. Institute of Electrical and Electronics Engineers Inc., 2016. pp. 214-219
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