@inproceedings{43598d7e5b214331be55aa3ebbe8ad50,
title = "Manhattan distance based Voronoi partitioning for efficient multi-robot coverage",
abstract = "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.",
author = "Nair, \{Vishnu G.\} and Guruprasad, \{K. R.\}",
note = "Publisher Copyright: {\textcopyright} 2020, Springer Nature Singapore Pte Ltd.; 15th Control Instrumentation Systems Conference, CISCON 2018 ; Conference date: 26-10-2018 Through 27-10-2018",
year = "2020",
month = jan,
day = "1",
doi = "10.1007/978-981-13-9419-5\_7",
language = "English",
isbn = "9789811394188",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Verlag",
pages = "81--90",
editor = "C. Shreesha and Gudi, \{Ravindra D.\}",
booktitle = "Control Instrumentation Systems - Proceedings of CISCON 2018",
address = "Germany",
}