Multi-robot coverage using Voronoi partitioning based on geodesic distance

Vishnu G. Nair, K. R. Guruprasad

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

Abstract

In this paper we propose Geodesic-VPC, a “partition” and “cover” strategy for a multi-robot system using Voronoi partitioning based on geodesic distance metric in the place of the usual Euclidean distance. Each robot is responsible for covering the corresponding geodesic-Voronoi cell using a single-robot coverage strategy. The proposed partitioning scheme ensures that Voronoi cells are contiguous even in the presence of obstacles. We demonstrate that if the single-robot coverage strategy is capable of providing a complete and non-repetitive coverage, then the proposed Geodesic-VPC strategy provides a complete and non-repetitive coverage. We use spanning tree-based coverage algorithm as the underlying single-robot coverage strategy for the purpose of demonstration, though any existing single-robot coverage algorithm can be used.

Original languageEnglish
Title of host publicationControl Instrumentation Systems - Proceedings of CISCON 2018
EditorsC. Shreesha, Ravindra D. Gudi
PublisherSpringer Verlag
Pages59-66
Number of pages8
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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All Science Journal Classification (ASJC) codes

  • Industrial and Manufacturing Engineering

Cite this

Nair, V. G., & Guruprasad, K. R. (2020). Multi-robot coverage using Voronoi partitioning based on geodesic distance. In C. Shreesha, & R. D. Gudi (Eds.), Control Instrumentation Systems - Proceedings of CISCON 2018 (pp. 59-66). (Lecture Notes in Electrical Engineering; Vol. 581). Springer Verlag. https://doi.org/10.1007/978-981-13-9419-5_5