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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.
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

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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