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.)