A coverage algorithm for a class of non-convex regions
The paper describes a framework for solving the coverage problem for a class of non-convex domains. In we have shown how a diffeomorphism can be used to transform a non-convex coverage problem to a convex one to which the Lloyd¿s algorithm can be applied. In this paper we show how a diffeomorphism c...
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| creator | Caicedo-Nunez, Carlos Humberto Zefran, Milos |
| description | The paper describes a framework for solving the coverage problem for a class of non-convex domains. In we have shown how a diffeomorphism can be used to transform a non-convex coverage problem to a convex one to which the Lloyd¿s algorithm can be applied. In this paper we show how a diffeomorphism can be constructed for convex regions with obstacles in its interior, so that the solution of the transformed problem yields the solution of the original non-convex problem. As part of this investigation we also identify stationary points of the Lloyd¿s algorithm in non-convex domains. We provide the formal analysis of the approach and demonstrate its effectiveness through simulations. |
| doi_str_mv | 10.1109/CDC.2008.4739464 |
| format | Conference Proceeding |
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In we have shown how a diffeomorphism can be used to transform a non-convex coverage problem to a convex one to which the Lloyd¿s algorithm can be applied. In this paper we show how a diffeomorphism can be constructed for convex regions with obstacles in its interior, so that the solution of the transformed problem yields the solution of the original non-convex problem. As part of this investigation we also identify stationary points of the Lloyd¿s algorithm in non-convex domains. 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In we have shown how a diffeomorphism can be used to transform a non-convex coverage problem to a convex one to which the Lloyd¿s algorithm can be applied. In this paper we show how a diffeomorphism can be constructed for convex regions with obstacles in its interior, so that the solution of the transformed problem yields the solution of the original non-convex problem. As part of this investigation we also identify stationary points of the Lloyd¿s algorithm in non-convex domains. We provide the formal analysis of the approach and demonstrate its effectiveness through simulations.</abstract><pub>IEEE</pub><doi>10.1109/CDC.2008.4739464</doi><tpages>6</tpages></addata></record> |
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| ispartof | 2008 47th IEEE Conference on Decision and Control, 2008, p.4244-4249 |
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| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Analytical models Computational modeling Distributed control Energy consumption Mobile robots Optimization methods Power engineering and energy Power engineering computing Quantum computing Vector quantization |
| title | A coverage algorithm for a class of non-convex regions |
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