Manhattan distance based Voronoi partitioning for efficient multi-robot coverage

Vishnu G. Nair, K. R. Guruprasad

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

Abstract

In this paper we address the problem of area coverage using multiple cooperating robots. One of the main concerns of using multiple robots is of avoiding repetitive coverage apart from complete coverage of the given area. Partitioning the area to be covered into cells and allotting one each cell to each of the robots for coverage is a simple and elegant solution for this problem. However, the spacial partitioning may lead to additional problems leading to either incomplete coverage or coverage overlap near the partition boundary. We propose a manhattan distance based Voronoi partitioning scheme of 2 D× 2 D gridded region, where D is the size of the robot footprint. We show that the proposed partitioning scheme completely eliminates coverage gaps and coverage overlap using illustrative results.

Original languageEnglish
Title of host publicationControl Instrumentation Systems - Proceedings of CISCON 2018
EditorsC. Shreesha, Ravindra D. Gudi
PublisherSpringer Verlag
Pages81-90
Number of pages10
ISBN (Print)9789811394188
DOIs
Publication statusPublished - 01-01-2020
Event15th Control Instrumentation Systems Conference, CISCON 2018 - Manipal, India
Duration: 26-10-201827-10-2018

Publication series

NameLecture Notes in Electrical Engineering
Volume581
ISSN (Print)1876-1100
ISSN (Electronic)1876-1119

Conference

Conference15th Control Instrumentation Systems Conference, CISCON 2018
CountryIndia
CityManipal
Period26-10-1827-10-18

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Robots

All Science Journal Classification (ASJC) codes

  • Industrial and Manufacturing Engineering

Cite this

Nair, V. G., & Guruprasad, K. R. (2020). Manhattan distance based Voronoi partitioning for efficient multi-robot coverage. In C. Shreesha, & R. D. Gudi (Eds.), Control Instrumentation Systems - Proceedings of CISCON 2018 (pp. 81-90). (Lecture Notes in Electrical Engineering; Vol. 581). Springer Verlag. https://doi.org/10.1007/978-981-13-9419-5_7
Nair, Vishnu G. ; Guruprasad, K. R. / Manhattan distance based Voronoi partitioning for efficient multi-robot coverage. Control Instrumentation Systems - Proceedings of CISCON 2018. editor / C. Shreesha ; Ravindra D. Gudi. Springer Verlag, 2020. pp. 81-90 (Lecture Notes in Electrical Engineering).
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Nair, VG & Guruprasad, KR 2020, Manhattan distance based Voronoi partitioning for efficient multi-robot coverage. in C Shreesha & RD Gudi (eds), Control Instrumentation Systems - Proceedings of CISCON 2018. Lecture Notes in Electrical Engineering, vol. 581, Springer Verlag, pp. 81-90, 15th Control Instrumentation Systems Conference, CISCON 2018, Manipal, India, 26-10-18. https://doi.org/10.1007/978-981-13-9419-5_7

Manhattan distance based Voronoi partitioning for efficient multi-robot coverage. / Nair, Vishnu G.; Guruprasad, K. R.

Control Instrumentation Systems - Proceedings of CISCON 2018. ed. / C. Shreesha; Ravindra D. Gudi. Springer Verlag, 2020. p. 81-90 (Lecture Notes in Electrical Engineering; Vol. 581).

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

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Nair VG, Guruprasad KR. Manhattan distance based Voronoi partitioning for efficient multi-robot coverage. In Shreesha C, Gudi RD, editors, Control Instrumentation Systems - Proceedings of CISCON 2018. Springer Verlag. 2020. p. 81-90. (Lecture Notes in Electrical Engineering). https://doi.org/10.1007/978-981-13-9419-5_7