A Multiplicatively Weighted Voronoi-Based Workspace Partition for Heterogeneous Seeding Robots

Multi-robot systems (MRSs) are currently being used to perform agricultural tasks. In this regard, the deployment of heterogeneous MRSs will be essential for achieving more efficient and innovative farming in the future. In this paper, we propose a multiplicatively weighted (MW) Voronoi-based task-allocation scheme for heterogeneous agricultural robots. The seed points for area partitioning using a Voronoi diagram are obtained by performing node clustering using a k-means clustering algorithm. Heterogeneous robots have different specifications for performing various tasks. Thus, the proposed MW Voronoi-based area partitioning for heterogeneous robots is applied by considering various weighting factors. The path for each robot is computed such that the robot follows the nodes, and the computed paths serve as inputs for the workload distribution strategy that assigns paths to the robots. Simulations and field experiments were conducted to verify the effectiveness of the proposed approach.