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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