129789 20240410085606.0 doi 10.1177/0278364919882082 sideral 115835 ART-2019-115835 eng Palacios-Gasós, J.M. (orcid)0000-0002-0492-6471 Equitable persistent coverage of non-convex environments with graph-based planning 2019 Access copy available to the general public Unrestricted In this article, we tackle the problem of persistently covering a complex non-convex environment with a team of robots. We consider scenarios where the coverage quality of the environment deteriorates with time, requiring every point to be constantly revisited. As a first step, our solution finds a partition of the environment where the amount of work for each robot, weighted by the importance of each point, is equal. This is achieved using a power diagram and finding an equitable partition through a provably correct distributed control law on the power weights. Compared with other existing partitioning methods, our solution considers a continuous environment formulation with non-convex obstacles. In the second step, each robot computes a graph that gathers sweep-like paths and covers its entire partition. At each planning time, the coverage error at the graph vertices is assigned as weights of the corresponding edges. Then, our solution is capable of efficiently finding the optimal open coverage path through the graph with respect to the coverage error per distance traversed. Simulation and experimental results are presented to support our proposal. info:eu-repo/grantAgreement/ES/DGA-FSE/C076-2014 info:eu-repo/grantAgreement/ES/DGA/T04-FSE info:eu-repo/grantAgreement/ES/MCIU-AEI-FEDER/PGC2018-098719-B-I00 info:eu-repo/grantAgreement/ES/MICIU/RTC-2017-5965-6 info:eu-repo/grantAgreement/ES/MINECO-FEDER/DPI2015-69376-R info:eu-repo/grantAgreement/ES/MINECO/RTC-2014-1847-6 info:eu-repo/grantAgreement/ES/UZ/CUD2017-18 info:eu-repo/semantics/openAccess All rights reserved http://www.europeana.eu/rights/rr-f/ 4.703 2019 ROBOTICS 5 / 28 = 0.179 2019 Q1 T1 3.212 2019 Applied Mathematics 2019 Q1 Artificial Intelligence 2019 Q1 Software 2019 Q1 Mechanical Engineering 2019 Q1 Modeling and Simulation 2019 Q1 Electrical and Electronic Engineering 2019 Q1 info:eu-repo/semantics/article info:eu-repo/semantics/acceptedVersion Tardioli, D. (orcid)0000-0002-7600-0002 Montijano, E. Universidad de Zaragoza (orcid)0000-0002-5176-3767 Sagüés, C. Universidad de Zaragoza (orcid)0000-0002-3032-954X 5007 520 Universidad de Zaragoza Dpto. Informát.Ingenie.Sistms. Área Ingen.Sistemas y Automát. 38, 14 (2019), 1674-1694 Int. j. rob. res. International Journal of Robotics Research 0278-3649 11048733 http://zaguan.unizar.es/record/129789/files/texto_completo.pdf Postprint 2578156 http://zaguan.unizar.es/record/129789/files/texto_completo.jpg?subformat=icon icon Postprint oai:zaguan.unizar.es:129789 articulos driver 2024-04-10-08:42:58 ARTICLE