Voronoi-based coverage control of heterogeneous disk-shaped robots

Arslan, Omur; Koditschek, Daniel E.

doi:10.1109/icra.2016.7487622

Cited by 62 publications

(28 citation statements)

References 29 publications

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“…Pimenta et al (2008) expand the idea to heterogeneous teams of robots. Arslan and Koditschek (2016) allow for robots with non-holonomic constraints or higher order dynamics. Bhattacharya et al (2014) enable Lloyd's algorithm to be used to explore non-convex and non-Euclidean environments.…”

Section: Introductionmentioning

confidence: 99%

Distributed multi-target search and tracking using the PHD filter

Dames

2019

Auton Robot

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This paper proposes a distributed estimation and control algorithm that enables a team of mobile robots to search for and track an unknown number of targets. These targets may be stationary or moving, and the number of targets may vary over time as targets enter and leave the area of interest. The robots are equipped with sensors that have a finite field of view and may experience false negative and false positive detections. The robots use a novel, distributed formulation of the Probability Hypothesis Density (PHD) filter, which accounts for the limitations of the sensors, to estimate the number of targets and the positions of the targets. The robots then use Lloyd's algorithm, a distributed control algorithm that has been shown to be effective for coverage and search tasks, to drive their motion within the environment. We utilize the output of the PHD filter as the importance weighting function within Lloyd's algorithm. This causes the robots to be drawn towards areas that are likely to contain targets. We demonstrate the efficacy of our proposed algorithm, including comparisons to a coverage-based controller with a uniform importance weighting function, through an extensive series of simulated experiments. These experiments show teams of 10-100 robots successfully tracking 10-50 targets in both 2D and 3D environments.

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Section: Introductionmentioning

confidence: 99%

Distributed multi-target search and tracking using the PHD filter

Dames

2019

Auton Robot

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“…Several aspects of the area coverage problem have been studied over the years, including the effect of robot dynamics [7][8][9], communication constraints among agents [10][11][12], complex non-convex regions [13][14][15] or guaranteeing collision avoidance among the mobile robots [16,17]. A wide variety of methods has also been employed for multirobot area coverage such as geometric optimization [18], optimal control [19] or event-triggered control [20].…”

Section: Introductionmentioning

confidence: 99%

Theoretical and Experimental Collaborative Area Coverage Schemes Using Mobile Agents

Papatheodorou

Tzes

2019

Applications of Mobile Robots

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This chapter is concerned with the development of collaborative control schemes for mobile ground robots for area coverage purposes. The simplest scheme assumes point omnidirectional robots with heterogeneous circular sensing patterns. Using information from their spatial neighbors, each robot (agent) computes its cell relying on the power diagram partitioning. If there is uncertainty in inferring the locations of these robots, the Additively Weighted Guaranteed Voronoi scheme is employed resulting in a rather conservative performance. The aforementioned schemes are enhanced by using a Voronoifree coverage scheme that relies on the knowledge of any arbitrary sensing pattern employed by the agents. Experimental results are offered to highlight the efficiency of the suggested control laws.

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“…Before we discuss the optimal AP and FC deployment, we need to know (a) the best index map T given P , Q, and R A , and (b) the best AP partition R A given P , Q, and T . The index map T only influences the second term in (7). To minimize the second term, each AP should transfer data to the closest FC.…”

Section: The Best Possible Distortion For the Two-tier Wsns Withmentioning

confidence: 99%

“…A affects both terms in (7). The best AP cell partitions, called the energy Voronoi diagrams (EVDs), are…”

Section: The Best Possible Distortion For the Two-tier Wsns Withmentioning

confidence: 99%

A Source Coding Perspective on Node Deployment in Two-Tier Networks

Guo

Koyuncu

Jafarkhani

2018

IEEE Trans. Commun.

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Abstract-Multi-tier networks have many applications in different fields. We define a novel two-tier quantizer that can be applied to different node deployment problems including the energy conservation in two-tier wireless sensor networks (WSNs) consisting of N access points (APs) and M fusion centers (FCs). We aim at finding an optimal deployment of APs and FCs to minimize the average weighted total, or Lagrangian, of sensor and AP powers. For one fusion center, M = 1, we show that the optimal deployment of APs is simply a linear transformation of the optimal N -level quantizer for density f , and the sole FC should be located at the geometric centroid of the sensing field. We also provide the exact expression of the AP-Sensor power function and prove its convexity. For more than one fusion center, M > 1, we provide a necessary condition for the optimal deployment. Furthermore, to numerically optimize the AP and FC deployment, we propose three Lloyd-like algorithms and analyze their convergence. Simulation results show that our algorithms outperform the existing algorithms.

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Voronoi-based coverage control of heterogeneous disk-shaped robots

Cited by 62 publications

References 29 publications

Distributed multi-target search and tracking using the PHD filter

Distributed multi-target search and tracking using the PHD filter

Theoretical and Experimental Collaborative Area Coverage Schemes Using Mobile Agents

A Source Coding Perspective on Node Deployment in Two-Tier Networks

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