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DisCoverage: From Coverage to Distributed Multi-Robot Exploration

Haumann, Dominik ; Willert, Volker ; Listmann, Kim D. (2023):
DisCoverage: From Coverage to Distributed Multi-Robot Exploration. (Publisher's Version)
In: IFAC Proceedings Volumes, 46 (27), pp. 328-335. IFAC - International Federation of Automatic Control, ISSN 1474-6670,
DOI: 10.26083/tuprints-00023296,

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Item Type: Article
Origin: Secondary publication service
Status: Publisher's Version
Title: DisCoverage: From Coverage to Distributed Multi-Robot Exploration
Language: English

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.

Journal or Publication Title: IFAC Proceedings Volumes
Volume of the journal: 46
Issue Number: 27
Place of Publication: Darmstadt
Publisher: IFAC - International Federation of Automatic Control
Uncontrolled Keywords: distributed control, distributed optimization, mobile robots, robot navigation, multi-robot exploration, dynamic coverage
Classification DDC: 600 Technik, Medizin, angewandte Wissenschaften > 620 Ingenieurwissenschaften und Maschinenbau
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
DOI: 10.26083/tuprints-00023296
Corresponding Links:
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

URI: https://tuprints.ulb.tu-darmstadt.de/id/eprint/23296
PPN: 507990056
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