A distributed robot swarm control for dynamic region coverage
Teruel, Enrique (Universidad de Zaragoza) ; Aragüés, Rosario (Universidad de Zaragoza) ; López-Nicolás, Gonzalo (Universidad de Zaragoza)
Resumen: 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.
Idioma: Inglés
DOI: 10.1016/j.robot.2019.06.002
Año: 2019
Publicado en: ROBOTICS AND AUTONOMOUS SYSTEMS 119 (2019), 51-63
ISSN: 0921-8890
Factor impacto JCR: 2.825 (2019)
Categ. JCR: AUTOMATION & CONTROL SYSTEMS rank: 27 / 63 = 0.429 (2019) - Q2 - T2
Categ. JCR: ROBOTICS rank: 12 / 28 = 0.429 (2019) - Q2 - T2
Categ. JCR: COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE rank: 54 / 136 = 0.397 (2019) - Q2 - T2
Factor impacto SCIMAGO: 0.988 - Computer Science Applications (Q1) - Software (Q1) - Mathematics (miscellaneous) (Q1) - Control and Systems Engineering (Q1)
Financiación: info:eu-repo/grantAgreement/ES/MICINN/PGC2018-098719-B-I00
Tipo y forma: Article (PostPrint)
Área (Departamento): Área Ingen.Sistemas y Automát. (Dpto. Informát.Ingenie.Sistms.)
You must give appropriate credit, provide a link to the license, and indicate if changes were made. You may do so in any reasonable manner, but not in any way that suggests the licensor endorses you or your use. You may not use the material for commercial purposes. If you remix, transform, or build upon the material, you may not distribute the modified material.
Exportado de SIDERAL (2025-01-14-15:48:52)
Visitas y descargas
Idioma: Inglés
DOI: 10.1016/j.robot.2019.06.002
Año: 2019
Publicado en: ROBOTICS AND AUTONOMOUS SYSTEMS 119 (2019), 51-63
ISSN: 0921-8890
Factor impacto JCR: 2.825 (2019)
Categ. JCR: AUTOMATION & CONTROL SYSTEMS rank: 27 / 63 = 0.429 (2019) - Q2 - T2
Categ. JCR: ROBOTICS rank: 12 / 28 = 0.429 (2019) - Q2 - T2
Categ. JCR: COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE rank: 54 / 136 = 0.397 (2019) - Q2 - T2
Factor impacto SCIMAGO: 0.988 - Computer Science Applications (Q1) - Software (Q1) - Mathematics (miscellaneous) (Q1) - Control and Systems Engineering (Q1)
Financiación: info:eu-repo/grantAgreement/ES/MICINN/PGC2018-098719-B-I00
Tipo y forma: Article (PostPrint)
Área (Departamento): Área Ingen.Sistemas y Automát. (Dpto. Informát.Ingenie.Sistms.)
You must give appropriate credit, provide a link to the license, and indicate if changes were made. You may do so in any reasonable manner, but not in any way that suggests the licensor endorses you or your use. You may not use the material for commercial purposes. If you remix, transform, or build upon the material, you may not distribute the modified material. Exportado de SIDERAL (2025-01-14-15:48:52)
Permalink:
Visitas y descargas
Este artículo se encuentra en las siguientes colecciones:
Articles > Artículos por área > Ingeniería de Sistemas y Automática
Record created 2025-01-14, last modified 2025-01-14