@inproceedings{4b46fabd679546faa2133db21f25a55c,
title = "Multi-robot coverage using Voronoi partitioning based on geodesic distance",
abstract = "In this paper we propose Geodesic-VPC, a “partition” and “cover” strategy for a multi-robot system using Voronoi partitioning based on geodesic distance metric in the place of the usual Euclidean distance. Each robot is responsible for covering the corresponding geodesic-Voronoi cell using a single-robot coverage strategy. The proposed partitioning scheme ensures that Voronoi cells are contiguous even in the presence of obstacles. We demonstrate that if the single-robot coverage strategy is capable of providing a complete and non-repetitive coverage, then the proposed Geodesic-VPC strategy provides a complete and non-repetitive coverage. We use spanning tree-based coverage algorithm as the underlying single-robot coverage strategy for the purpose of demonstration, though any existing single-robot coverage algorithm can be used.",
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\_5",
language = "English",
isbn = "9789811394188",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Verlag",
pages = "59--66",
editor = "C. Shreesha and Gudi, \{Ravindra D.\}",
booktitle = "Control Instrumentation Systems - Proceedings of CISCON 2018",
address = "Germany",
}