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.
Centroidal Area-Constrained Partitioning for Robotic Networks
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received April 1, 2013; final manuscript received November 28, 2013; published online March 10, 2014. Assoc. Editor: Jongeun Choi.
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Patel, R., Frasca, P., and Bullo, F. (March 10, 2014). "Centroidal Area-Constrained Partitioning for Robotic Networks." ASME. J. Dyn. Sys., Meas., Control. May 2014; 136(3): 031024. https://doi.org/10.1115/1.4026344
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