148181 20250114175434.0 doi 10.1109/LRA.2021.3057568 sideral 124071 ART-2021-124071 eng Teruel, E. Universidad de Zaragoza (orcid)0000-0001-6406-7042 A Practical Method to Cover Evenly a Dynamic Region with a Swarm 2021 Many applications require exploring or monitoring a region. This can be achieved by a sensor network, a large team of robots which can cover only a very small fraction each. When the region is convex, small, and static, it suffices to deploy the robots as a Centroidal Voronoi Tessellation (CVT). Instead, we consider that the area to cover is wide, not necessarily convex, and complex. Then, a smaller simple region is maneuvered and deformed to rake the full area. A few waypoints describing the region along time are provided to the robots. The goal is that the robots coordinate to dynamically deploy over this region evenly, near a CVT. Unfortunately, the distributed CVT computation algorithm converges too slowly for such exploration method to be practical. In this work, CVT computation is complemented with feedback and feedforward based control techniques, and dynamic consensus, to adjust the robot speeds so that they coordinate to cover the dynamic region. We demonstrate in simulation that the proposed method succeeds to achieve the goal of tracking the region, with the robots evenly deployed, while keeping the connectivity and avoiding collisions. We also compare the performance of the proposed method versus other alternatives. Access copy available to the general public Unrestricted info:eu-repo/grantAgreement/ES/MCIU-AEI-FEDER/PGC2018-098719-B-I00 info:eu-repo/semantics/openAccess by http://creativecommons.org/licenses/by/3.0/es/ 4.321 2021 ROBOTICS 11 / 30 = 0.367 2021 Q2 T2 2.206 2021 Artificial Intelligence 2021 Q1 Biomedical Engineering 2021 Q1 Mechanical Engineering 2021 Q1 Control and Optimization 2021 Q1 Control and Systems Engineering 2021 Q1 Computer Vision and Pattern Recognition 2021 Q1 8.0 2021 info:eu-repo/semantics/article info:eu-repo/semantics/acceptedVersion Aragues, R. Universidad de Zaragoza (orcid)0000-0001-9458-6257 López-Nicolás, G. Universidad de Zaragoza (orcid)0000-0001-9347-5969 5007 520 Universidad de Zaragoza Dpto. Informát.Ingenie.Sistms. Área Ingen.Sistemas y Automát. 6, 2 (2021), 1359-1366 IEEE Robot. autom. let. IEEE Robotics and Automation Letters 2377-3766 756622 http://zaguan.unizar.es/record/148181/files/texto_completo.pdf Postprint 3486275 http://zaguan.unizar.es/record/148181/files/texto_completo.jpg?subformat=icon icon Postprint oai:zaguan.unizar.es:148181 articulos driver 2025-01-14-15:48:59 ARTICLE