Name
Title | ||
|---|---|---|
Dynamic Partitioning and Coverage Control with Asynchronous One-to-Base-Station Communication |
Abstract | ||
|---|---|---|
We propose algorithms to automatically deploy a group of mobile robots and provide coverage of a non-convex environment with communication limitations. In settings such as hilly terrain or for underwater ocean gliders, peer-to-peer communication can be impossible and frequent communication to a central base station may be impractical. This paper instead explores how to perform coverage control when each robot has only asynchronous and sporadic communication with a base station. The proposed algorithms rely upon overlapping territories, monotonically minimize suitable cost functions, and provably converge to a centroidal Voronoi partition. We also describe how the use of overlapping territories allows our algorithms to smoothly handle dynamic changes to the robot team. |
Year | DOI | Venue |
|---|---|---|
2016 | 10.1109/TCNS.2015.2428304 | IEEE Trans. Control of Network Systems |
Keywords | DocType | Volume |
Asynchronous communication, autonomous agents, distributed algorithms, partitioning algorithms | Journal | PP |
Issue | ISSN | Citations |
99 | 2325-5870 | 5 |
PageRank | References | Authors |
0.45 | 10 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Rushabh Patel | 1 | 13 | 1.42 |
| Paolo Frasca | 2 | 408 | 35.99 |
| Durham, J. | 3 | 5 | 0.45 |
| Ruggero Carli | 4 | 894 | 69.17 |