Distributed Coverage Control on Surfaces in 3D Space

@article{Breitenmoser2010DistributedCC,
  title={Distributed Coverage Control on Surfaces in 3D Space},
  author={Andreas Breitenmoser and Jean-Claude Metzger and Roland Y. Siegwart and Daniela Rus},
  journal={2010 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2010},
  pages={5569-5576}
}
This paper addresses the problem of deploying a group of networked robots on a non-planar surface embedded in 3D space. Two distributed coverage control algorithms are presented that both provide a solution to the problem by discrete coverage of a graph. The first method computes shortest paths and runs the Lloyd algorithm on the graph to obtain a centroidal Voronoi tessellation. The second method uses the Euclidean distance measure and locally exchanges mesh cells between approximated Voronoi… Expand
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