000148175 001__ 148175 000148175 005__ 20250114175434.0 000148175 0247_ $$2doi$$a10.1016/j.robot.2019.06.002 000148175 0248_ $$2sideral$$a116197 000148175 037__ $$aART-2019-116197 000148175 041__ $$aeng 000148175 100__ $$0(orcid)0000-0001-6406-7042$$aTeruel, Enrique$$uUniversidad de Zaragoza 000148175 245__ $$aA distributed robot swarm control for dynamic region coverage 000148175 260__ $$c2019 000148175 5060_ $$aAccess copy available to the general public$$fUnrestricted 000148175 5203_ $$aWe propose a new distributed method for coverage of a moving deformable convex region with a team of robots in a communication network. Robots execute a distributed self-deployment strategy based on Centroidal Voronoi Tessellations (CVT) to cover the region evenly while preventing collisions. The main contribution is the addition of a feedforward action to overcome the well-known slow convergence issue of the basic CVT algorithms. This action is derived by each robot from the information about the region that floods through the network from a few selected leaders. The method allows to quickly adapt to the fastly changing working area in spite of the light communication requirements, and it is well suited for large teams of expendable robots. 000148175 536__ $$9info:eu-repo/grantAgreement/ES/MICINN/PGC2018-098719-B-I00 000148175 540__ $$9info:eu-repo/semantics/openAccess$$aby-nc-nd$$uhttp://creativecommons.org/licenses/by-nc-nd/3.0/es/ 000148175 590__ $$a2.825$$b2019 000148175 591__ $$aAUTOMATION & CONTROL SYSTEMS$$b27 / 63 = 0.429$$c2019$$dQ2$$eT2 000148175 591__ $$aROBOTICS$$b12 / 28 = 0.429$$c2019$$dQ2$$eT2 000148175 591__ $$aCOMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE$$b54 / 136 = 0.397$$c2019$$dQ2$$eT2 000148175 592__ $$a0.988$$b2019 000148175 593__ $$aComputer Science Applications$$c2019$$dQ1 000148175 593__ $$aSoftware$$c2019$$dQ1 000148175 593__ $$aMathematics (miscellaneous)$$c2019$$dQ1 000148175 593__ $$aControl and Systems Engineering$$c2019$$dQ1 000148175 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/acceptedVersion 000148175 700__ $$0(orcid)0000-0001-9458-6257$$aAragüés, Rosario$$uUniversidad de Zaragoza 000148175 700__ $$0(orcid)0000-0001-9347-5969$$aLópez-Nicolás, Gonzalo$$uUniversidad de Zaragoza 000148175 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát. 000148175 773__ $$g119 (2019), 51-63$$pRobot. auton. syst.$$tROBOTICS AND AUTONOMOUS SYSTEMS$$x0921-8890 000148175 8564_ $$s699337$$uhttps://zaguan.unizar.es/record/148175/files/texto_completo.pdf$$yPostprint 000148175 8564_ $$s1574208$$uhttps://zaguan.unizar.es/record/148175/files/texto_completo.jpg?subformat=icon$$xicon$$yPostprint 000148175 909CO $$ooai:zaguan.unizar.es:148175$$particulos$$pdriver 000148175 951__ $$a2025-01-14-15:48:52 000148175 980__ $$aARTICLE