Distributed deployment of asynchronous guards in art galleries

  title={Distributed deployment of asynchronous guards in art galleries},
  author={Anurag Ganguli and Jorge Cort{\'e}s and Francesco Bullo},
  journal={2006 American Control Conference},
  pages={6 pp.-}
This paper presents deployment algorithms for multiple mobile robots with line-of-sight sensing and communication capabilities in a simple nonconvex polygonal environment. The objective of the proposed algorithms is to achieve full visibility of the environment. We solve the problem by constructing a novel data structure called the vertex-induced tree and designing schemes to deploy over the nodes of this tree by means of distributed algorithms. The agents are assumed to have access to a local… CONTINUE READING
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