In this paper we propose distributed algorithms to automatically deploy a group of robotic agents and provide coverage of a discretized environment represented by a graph. We present a discrete coverage algorithm which converges to a centroidal Voronoi partition while requiring only pairwise “gossip” communication between the agents. Our theoretical analysis is based on a dynamical system on partitions of the graph’s vertices. We also establish bounds on the computational requirements of the algorithm and demonstrate its functionality with simulations.
- Dynamic Systems and Control Division
Discrete Partitioning and Coverage Control With Gossip Communication
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Durham, JW, Carli, R, Frasca, P, & Bullo, F. "Discrete Partitioning and Coverage Control With Gossip Communication." Proceedings of the ASME 2009 Dynamic Systems and Control Conference. ASME 2009 Dynamic Systems and Control Conference, Volume 2. Hollywood, California, USA. October 12–14, 2009. pp. 225-232. ASME. https://doi.org/10.1115/DSCC2009-2593
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