GM-VPC: An Algorithm for Multi-robot Coverage of Known Spaces Using Generalized Voronoi Partition

In this paper we address the problem of coverage path planning (CPP) for multiple cooperating mobile robots. We use a ‘partition and cover’ approach using Voronoi partition to achieve natural passive cooperation between robots to avoid task duplicity. We combine two generalizations of Voronoi partit...

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Veröffentlicht in:	Robotica 2020-05, Vol.38 (5), p.845-860
Hauptverfasser:	Nair, Vishnu G., Guruprasad, K. R.
Format:	Artikel
Sprache:	eng
Schlagworte:	Algorithms Computer simulation Cooperation Decomposition Graph theory Multiple robots Partitions Path planning Robots Voronoi graphs
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