Dynamic partitioning and coverage control with asynchronous one-to-base-station communication

Rushabh Patel, Paolo Frasca, Joseph W. Durham, Ruggero Carli, Francesco Bullo

    Research output: Contribution to journalArticleAcademicpeer-review

    12 Citations (Scopus)


    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.
    Original languageUndefined
    Pages (from-to)24-33
    Number of pages10
    JournalIEEE transactions on control of network systems
    Issue number1
    Publication statusPublished - Mar 2016


    • autonomous agents
    • EWI-26830
    • Asynchronous communication
    • IR-100432
    • partitioning algorithms
    • METIS-316837
    • Distributed algorithms

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