Voronoi coverage of non-convex environments with a group of networked robots

@article{Breitenmoser2010VoronoiCO,
  title={Voronoi coverage of non-convex environments with a group of networked robots},
  author={A. Breitenmoser and M. Schwager and Jean-Claude Metzger and R. Siegwart and D. Rus},
  journal={2010 IEEE International Conference on Robotics and Automation},
  year={2010},
  pages={4982-4989}
}
This paper presents a solution to decentralized Voronoi coverage in non-convex polygonal environments. We show that complications arise when existing approaches to Voronoi coverage are applied for deploying a group of robots in non-convex environments. We present an algorithm that is guaranteed to converge to a local optimum. Our algorithm combines classical Voronoi coverage with the Lloyd algorithm and the local path planning algorithm TangentBug to compute the motion of the robots around… Expand
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