Distributed Autonomous Robotic Systems pp 61-75

Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 83)

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Distributed Coverage and Exploration in Unknown Non-convex Environments

  • Subhrajit Bhattacharya
  • Nathan Michael
  • Vijay Kumar

Abstract

We consider the problem of multi-robot exploration and coverage in unknown non-convex environments. The contributions of the work include (1) the presentation of a distributed algorithm that computes the generalized Voronoi tessellation of non-convex environments (using a discrete representation) in real-time for use in feedback control laws; and (2) the extension of this method to entropy based metrics that allow for cooperative coverage control in unknown non-convex environments. Simulation results demonstrate the application of the control methodology for cooperative exploration and coverage in an office environment.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Subhrajit Bhattacharya
    • 1
  • Nathan Michael
    • 1
  • Vijay Kumar
    • 1
  1. 1.GRASP LaboratoryUniversity of PennsylvaniaPhiladelphiaUSA

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