Haumann, Dominik ; Willert, Volker ; Listmann, Kim D. (2023)
DisCoverage: From Coverage to Distributed Multi-Robot Exploration.
In: IFAC Proceedings Volumes, 2013, 46 (27)
doi: 10.26083/tuprints-00023296
Article, Secondary publication, Publisher's Version
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| Item Type: | Article |
|---|---|
| Type of entry: | Secondary publication |
| Title: | DisCoverage: From Coverage to Distributed Multi-Robot Exploration |
| Language: | English |
| Date: | 2023 |
| Place of Publication: | Darmstadt |
| Year of primary publication: | 2013 |
| Publisher: | IFAC - International Federation of Automatic Control |
| Journal or Publication Title: | IFAC Proceedings Volumes |
| Volume of the journal: | 46 |
| Issue Number: | 27 |
| DOI: | 10.26083/tuprints-00023296 |
| Corresponding Links: | |
| Origin: | Secondary publication service |
| Abstract: | DisCoverage transfers the well-known solution to the coverage problem to the exploration problem. Essentially, DisCoverage solves the multi-robot exploration problem through a spatially distributed optimization problem. Our contribution is a new objective function for DisCoverage based on the centroidal search. Each robot continuously creates and optimizes the proposed objective function, obtaining a gradient-based control law that leads into unexplored regions. A proof of convergence is given as well as a simulation and a statistical evaluation demonstrating DisCoverage. |
| Uncontrolled Keywords: | distributed control, distributed optimization, mobile robots, robot navigation, multi-robot exploration, dynamic coverage |
| Status: | Publisher's Version |
| URN: | urn:nbn:de:tuda-tuprints-232961 |
| Additional Information: | Zugl. Konferenzveröffentlichung: 4th IFAC Workshop on Distributed Estimation and Control in Networked Systems (NecSys 2013), 25.-26.09.2013, Koblenz, Germany |
| Classification DDC: | 600 Technology, medicine, applied sciences > 620 Engineering and machine engineering |
| Divisions: | 18 Department of Electrical Engineering and Information Technology > Institut für Automatisierungstechnik und Mechatronik > Control Methods and Intelligent Systems |
| Date Deposited: | 01 Mar 2023 13:45 |
| Last Modified: | 26 May 2023 07:08 |
| URI: | https://tuprints.ulb.tu-darmstadt.de/id/eprint/23296 |
| PPN: | 507990056 |
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