2D-VPC: An Efficient Coverage Algorithm for Multiple Autonomous Vehicles

Nair, Vishnu G and Guruprasad, K R (2021) 2D-VPC: An Efficient Coverage Algorithm for Multiple Autonomous Vehicles. International Journal of Control, Automation and Systems, 19 (X). ISSN 1598-6446

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In this paper, we address a problem of multi-robotic coverage, where an area of interest is covered by multiple sensors, each mounted on an autonomous vehicle such as an aerial or a ground mobile robot. The area of interest is first decomposed into grids of equal size and then partitioned into Voronoi cells. Each robot/sensor is assigned the task of covering the corresponding Voronoi cell. We propose an optimal gridding size and parti�tioning methodology that eliminate the coverage inefficiencies induced by the partitioning process. We carried out experiments using multiple quadcopters and mobile robots to demonstrate and validate the proposed multi-sensor coverage strategy

Item Type: Article
Uncontrolled Keywords: Multi-robot coverage, sensor coverage, unmanned aerial vehicle, Voronoi partition
Subjects: Engineering > MIT Manipal > Aeronautical and Automobile
Depositing User: MIT Library
Date Deposited: 02 Sep 2021 06:01
Last Modified: 02 Sep 2021 06:01
URI: http://eprints.manipal.edu/id/eprint/157207

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