On Combining Multi-robot Coverage and Reciprocal Collision Avoidance

  • Andreas BreitenmoserEmail author
  • Alcherio Martinoli
Conference paper
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 112)


Although robotic coverage and collision avoidance are active areas of robotics research, the avoidance of collision situations between robots has often been neglected in the context of multi-robot coverage tasks. In fact, for robots of physical size, collisions are likely to happen during deployment and coverage in densely packed multi-robot configurations. For this reason, we aim to motivate by this paper the combined use of multi-robot coverage and reciprocal collision avoidance. We present a taxonomy of collision scenarios in multi-robot coverage problems. In particular, coverage tasks with built-in heterogeneity such as multiple antagonistic objectives or robot constraints are shown to benefit from the combination. Based on our taxonomy, we evaluate four representative robotic use cases in simulation by combining the specific methods of Voronoi coverage and reciprocal velocity obstacles.


Multi-robot coverage Voronoi tessellation Reciprocal collision avoidance Velocity obstacles Taxonomy of collision scenarios Evaluation of use cases 



The work presented in this paper has been carried out at the Distributed Intelligent Systems and Algorithms Laboratory at EPFL. The research leading to these results has received funding from the European Union Seventh Framework Programme FP7/2007–2013—Challenge 2—Cognitive Systems, Interaction, Robotics—under grant agreement No 601033—MOnarCH.


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Copyright information

© Springer Japan 2016

Authors and Affiliations

  1. 1.Robotic Embedded Systems Laboratory, Department of Computer ScienceViterbi School of Engineering, University of Southern CaliforniaLos AngelesUSA
  2. 2.Distributed Intelligent Systems and Algorithms LaboratorySchool of Architecture, Civil and Environmental Engineering, École Polytechnique Fédérale de LausanneLausanneSwitzerland

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