148175 20250114175434.0 doi 10.1016/j.robot.2019.06.002 sideral 116197 ART-2019-116197 eng Teruel, Enrique Universidad de Zaragoza (orcid)0000-0001-6406-7042 A distributed robot swarm control for dynamic region coverage 2019 We 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. Access copy available to the general public Unrestricted info:eu-repo/grantAgreement/ES/MICINN/PGC2018-098719-B-I00 info:eu-repo/semantics/openAccess by-nc-nd http://creativecommons.org/licenses/by-nc-nd/3.0/es/ 2.825 2019 AUTOMATION & CONTROL SYSTEMS 27 / 63 = 0.429 2019 Q2 T2 ROBOTICS 12 / 28 = 0.429 2019 Q2 T2 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE 54 / 136 = 0.397 2019 Q2 T2 0.988 2019 Computer Science Applications 2019 Q1 Software 2019 Q1 Mathematics (miscellaneous) 2019 Q1 Control and Systems Engineering 2019 Q1 info:eu-repo/semantics/article info:eu-repo/semantics/acceptedVersion Aragüés, Rosario Universidad de Zaragoza (orcid)0000-0001-9458-6257 López-Nicolás, Gonzalo Universidad de Zaragoza (orcid)0000-0001-9347-5969 5007 520 Universidad de Zaragoza Dpto. Informát.Ingenie.Sistms. Área Ingen.Sistemas y Automát. 119 (2019), 51-63 Robot. auton. syst. ROBOTICS AND AUTONOMOUS SYSTEMS 0921-8890 699337 http://zaguan.unizar.es/record/148175/files/texto_completo.pdf Postprint 1574208 http://zaguan.unizar.es/record/148175/files/texto_completo.jpg?subformat=icon icon Postprint oai:zaguan.unizar.es:148175 articulos driver 2025-01-14-15:48:52 ARTICLE