Visibility-oriented coverage control of mobile robotic networks on non-convex regions

Yiannis Kantaros; Michalis Thanou; Anthony Tzes

doi:10.1109/ICRA.2014.6906995

Visibility-oriented coverage control of mobile robotic networks on non-convex regions

Yiannis Kantaros
, Michalis Thanou
, Anthony Tzes

Department of Electrical & Systems Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

18 Scopus citations

Abstract

In this paper, the area coverage problem of non-convex environments by a group of mobile robots is addressed. Each robot is equipped with a sensing device modeled through a range-limited visibility field. The network is assumed to be homogeneous in terms of nodes' sensing capabilities and general characteristics. A gradient-ascent control law is proposed, based on visibility-based Voronoi diagrams, leading the network to the optimal final state in terms of total area coverage. The provided simulation studies illustrate the results derived by the application of the proposed control scheme and validate its effectiveness.

Original language	English
Title of host publication	Proceedings - IEEE International Conference on Robotics and Automation
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1126-1131
Number of pages	6
ISBN (Electronic)	9781479936854, 9781479936854
DOIs	https://doi.org/10.1109/ICRA.2014.6906995
State	Published - Sep 22 2014
Event	2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China Duration: May 31 2014 → Jun 7 2014

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Country/Territory	China
City	Hong Kong
Period	05/31/14 → 06/7/14

Keywords

mobile robotic networks
Non-convex area coverage problem
visibility-based Voronoi diagrams

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10.1109/ICRA.2014.6906995

Cite this

Kantaros, Y., Thanou, M., & Tzes, A. (2014). Visibility-oriented coverage control of mobile robotic networks on non-convex regions. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 1126-1131). Article 6906995 (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2014.6906995

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title = "Visibility-oriented coverage control of mobile robotic networks on non-convex regions",

abstract = "In this paper, the area coverage problem of non-convex environments by a group of mobile robots is addressed. Each robot is equipped with a sensing device modeled through a range-limited visibility field. The network is assumed to be homogeneous in terms of nodes' sensing capabilities and general characteristics. A gradient-ascent control law is proposed, based on visibility-based Voronoi diagrams, leading the network to the optimal final state in terms of total area coverage. The provided simulation studies illustrate the results derived by the application of the proposed control scheme and validate its effectiveness.",

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author = "Yiannis Kantaros and Michalis Thanou and Anthony Tzes",

note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 IEEE International Conference on Robotics and Automation, ICRA 2014 ; Conference date: 31-05-2014 Through 07-06-2014",

year = "2014",

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doi = "10.1109/ICRA.2014.6906995",

language = "English",

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Kantaros, Y, Thanou, M & Tzes, A 2014, Visibility-oriented coverage control of mobile robotic networks on non-convex regions. in Proceedings - IEEE International Conference on Robotics and Automation., 6906995, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 1126-1131, 2014 IEEE International Conference on Robotics and Automation, ICRA 2014, Hong Kong, China, 05/31/14. https://doi.org/10.1109/ICRA.2014.6906995

Visibility-oriented coverage control of mobile robotic networks on non-convex regions. / Kantaros, Yiannis; Thanou, Michalis; Tzes, Anthony.
Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2014. p. 1126-1131 6906995 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Tzes, Anthony

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N2 - In this paper, the area coverage problem of non-convex environments by a group of mobile robots is addressed. Each robot is equipped with a sensing device modeled through a range-limited visibility field. The network is assumed to be homogeneous in terms of nodes' sensing capabilities and general characteristics. A gradient-ascent control law is proposed, based on visibility-based Voronoi diagrams, leading the network to the optimal final state in terms of total area coverage. The provided simulation studies illustrate the results derived by the application of the proposed control scheme and validate its effectiveness.

AB - In this paper, the area coverage problem of non-convex environments by a group of mobile robots is addressed. Each robot is equipped with a sensing device modeled through a range-limited visibility field. The network is assumed to be homogeneous in terms of nodes' sensing capabilities and general characteristics. A gradient-ascent control law is proposed, based on visibility-based Voronoi diagrams, leading the network to the optimal final state in terms of total area coverage. The provided simulation studies illustrate the results derived by the application of the proposed control scheme and validate its effectiveness.

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BT - Proceedings - IEEE International Conference on Robotics and Automation

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2014 IEEE International Conference on Robotics and Automation, ICRA 2014

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Kantaros Y, Thanou M, Tzes A. Visibility-oriented coverage control of mobile robotic networks on non-convex regions. In Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc. 2014. p. 1126-1131. 6906995. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ICRA.2014.6906995

Visibility-oriented coverage control of mobile robotic networks on non-convex regions

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