Manhattan distance based Voronoi partitioning for efficient multi-robot coverage

Vishnu G. Nair, K. R. Guruprasad

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)


In this paper we address the problem of area coverage using multiple cooperating robots. One of the main concerns of using multiple robots is of avoiding repetitive coverage apart from complete coverage of the given area. Partitioning the area to be covered into cells and allotting one each cell to each of the robots for coverage is a simple and elegant solution for this problem. However, the spacial partitioning may lead to additional problems leading to either incomplete coverage or coverage overlap near the partition boundary. We propose a manhattan distance based Voronoi partitioning scheme of 2 D× 2 D gridded region, where D is the size of the robot footprint. We show that the proposed partitioning scheme completely eliminates coverage gaps and coverage overlap using illustrative results.

Original languageEnglish
Title of host publicationControl Instrumentation Systems - Proceedings of CISCON 2018
EditorsC. Shreesha, Ravindra D. Gudi
PublisherSpringer Verlag
Number of pages10
ISBN (Print)9789811394188
Publication statusPublished - 01-01-2020
Event15th Control Instrumentation Systems Conference, CISCON 2018 - Manipal, India
Duration: 26-10-201827-10-2018

Publication series

NameLecture Notes in Electrical Engineering
ISSN (Print)1876-1100
ISSN (Electronic)1876-1119


Conference15th Control Instrumentation Systems Conference, CISCON 2018

All Science Journal Classification (ASJC) codes

  • Industrial and Manufacturing Engineering


Dive into the research topics of 'Manhattan distance based Voronoi partitioning for efficient multi-robot coverage'. Together they form a unique fingerprint.

Cite this