Discrete Partitioning and Coverage Control for Gossiping Robots
نویسندگان
چکیده
منابع مشابه
Discrete Partitioning and Coverage Control with Gossip Communication
In this paper we propose distributed algorithms to automatically deploy a group of robotic agents and provide coverage of a discretized environment represented by a graph. We present a discrete coverage algorithm which converges to a centroidal Voronoi partition while requiring only pairwise “gossip” communication between the agents. Our theoretical analysis is based on a dynamical system on pa...
متن کاملDecentralized, Adaptive Coverage Control for Networked Robots
A decentralized, adaptive control law is presented to drive a network of mobile robots to an optimal sensing configuration. The control law is adaptive in that it uses sensor measurements to learn an approximation of the distribution of sensory information in the environment. It is decentralized in that it requires only information local to each robot. The controller is then improved upon by im...
متن کاملCoverage Control for Wire-Traversing Robots
In this paper we consider the coverage control problem for a team of wire-traversing robots. The twodimensional motion of robots moving in a planar environment has to be projected to one-dimensional manifolds representing the wires. Starting from Lloyd’s descent algorithm for coverage control, a solution that generates continuous motion of the robots on the wires is proposed. This is realized b...
متن کاملDiscrete Event Control for Mobile Robots
A new technique for the control of mobile robots using a discrete event model is presented. Physical obstacles are represented by constraints on the motion of the robot. In the discrete event model, the discrete state of the system is de-ned by the currently active constraint. This paper uses dynamic constraints which depend upon the velocity as well as the position of the robot. Dynamic constr...
متن کاملDistributed Coverage Control with Sensory Feedback for Networked Robots
This paper presents a control strategy that allows a group of mobile robots to position themselves to optimize the measurement of sensory information in the environment. The robots use sensed information to estimate a function indicating the relative importance of different areas in the environment. Their estimate is then used to drive the network to a desirable placement configuration using a ...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IEEE Transactions on Robotics
سال: 2012
ISSN: 1552-3098,1941-0468
DOI: 10.1109/tro.2011.2170753