Multi-Robot Voronoi Coverage under Actuation and Measurement Noise

In this paper, we study the problem of multi-robot coverage when the evolution of the robots’ positions is uncertain. More precisely, we use the popular Voronoi coverage control approach [1], which is based on the iterative construction of a centroidal Voronoi tessellation, and ask what happens to the control law and the Voronoi tessellation under actuation and measurement noise. We present a first description and analysis of the phenomena (stability of the controller, uncertainty of the Voronoi cells) and show future research directions.

[1]  Francesco Bullo,et al.  A ladybug exploration strategy for distributed adaptive coverage control , 2008, 2008 IEEE International Conference on Robotics and Automation.

[2]  Kotagiri Ramamohanarao,et al.  Probabilistic Voronoi diagrams for probabilistic moving nearest neighbor queries , 2011, Data Knowl. Eng..

[3]  Sonia Martínez,et al.  Coverage control for mobile sensing networks , 2002, IEEE Transactions on Robotics and Automation.

[4]  Qiang Du,et al.  Centroidal Voronoi Tessellations: Applications and Algorithms , 1999, SIAM Rev..