Centroidal area-constrained partitioning for robotic networks

Rushabh Patel, Paolo Frasca, Francesco Bullo

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    4 Citations (Scopus)
    63 Downloads (Pure)


    We consider the problem of optimal coverage with area constraints in a mobile multi-agent system. For a planar environment with an associated density function, this problem is equivalent to dividing the environment into optimal subregions such that each agent is responsible for the coverage of its own region. In this paper, we design a continuous-time distributed policy which allows a team of agents to achieve a convex area-constrained partition of a convex workspace. Our work is related to the classic Lloyd algorithm, and makes use of generalized Voronoi diagrams. We also discuss practical implementation for real mobile networks. Simulation methods are presented and discussed.
    Original languageEnglish
    Title of host publicationProceedings of the ASME 2013 6th Annual Dynamic Systems and Control Conference
    Place of PublicationUSA
    PublisherAmerican Society of Mechanical Engineers (ASME)
    Number of pages5
    Publication statusPublished - Oct 2013
    EventASME 6th Annual Dynamic Systems and Control Conference 2013 - Stanford, United States
    Duration: 21 Oct 201323 Oct 2013
    Conference number: 6


    ConferenceASME 6th Annual Dynamic Systems and Control Conference 2013
    Country/TerritoryUnited States


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