Papers
Topics
Authors
Recent
Gemini 2.5 Flash
Gemini 2.5 Flash
119 tokens/sec
GPT-4o
56 tokens/sec
Gemini 2.5 Pro Pro
43 tokens/sec
o3 Pro
6 tokens/sec
GPT-4.1 Pro
47 tokens/sec
DeepSeek R1 via Azure Pro
28 tokens/sec
2000 character limit reached

Range Limited Coverage Control using Air-Ground Multi-Robot Teams (2306.07385v1)

Published 12 Jun 2023 in cs.RO and cs.MA

Abstract: In this paper, we investigate how heterogeneous multi-robot systems with different sensing capabilities can observe a domain with an apriori unknown density function. Common coverage control techniques are targeted towards homogeneous teams of robots and do not consider what happens when the sensing capabilities of the robots are vastly different. This work proposes an extension to Lloyd's algorithm that fuses coverage information from heterogeneous robots with differing sensing capabilities to effectively observe a domain. Namely, we study a bimodal team of robots consisting of aerial and ground agents. In our problem formulation we use aerial robots with coarse domain sensors to approximate the number of ground robots needed within their sensing region to effectively cover it. This information is relayed to ground robots, who perform an extension to the Lloyd's algorithm that balances a locally focused coverage controller with a globally focused distribution controller. The stability of the Lloyd's algorithm extension is proven and its performance is evaluated through simulation and experiments using the Robotarium, a remotely-accessible, multi-robot testbed.

Definition Search Book Streamline Icon: https://streamlinehq.com
References (17)
  1. A. Gautam and S. Mohan, “A review of research in multi-robot systems,” in 2012 IEEE 7th International Conference on Industrial and Information Systems (ICIIS), 2012, pp. 1–5.
  2. Y. U. Cao, A. S. Fukunaga, A. B. Kahng, and F. Meng, “Cooperative mobile robotics: antecedents and directions,” in Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots, vol. 1, 1995, pp. 226–234 vol.1.
  3. J. Ota, “Multi-agent robot systems as distributed autonomous systems,” Advanced Engineering Informatics, vol. 20, no. 1, pp. 59 – 70, 2006.
  4. J. Lowenberg-DeBoer, I. Huang, V. Grigoriadis, and S. Blackmore, “Economics of robots and automation in field crop production,” Precision Agriculture, vol. 21, pp. 278–299, 2020.
  5. M. Zhong and C. G. Cassandras, “Distributed coverage control and data collection with mobile sensor networks,” IEEE Transactions on Automatic Control, vol. 56, no. 10, pp. 2445–2455, 2011.
  6. J. Cortes, S. Martinez, T. Karatas, and F. Bullo, “Coverage control for mobile sensing networks,” IEEE Transactions on Robotics and Automation, vol. 20, no. 2, pp. 243–255, 2004.
  7. O. Arslan and D. E. Koditschek, “Voronoi-based coverage control of heterogeneous disk-shaped robots,” in 2016 IEEE International Conference on Robotics and Automation (ICRA), 2016, pp. 4259–4266.
  8. B. Hexsel, N. Chakraborty, and K. Sycara, “Coverage control for mobile anisotropic sensor networks,” in 2011 IEEE International Conference on Robotics and Automation, 2011, pp. 2878–2885.
  9. J. Cortés, S. Martinéz, and F. Bullo, “Spatially-distributed coverage optimization and control with limited-range interactions,” ESAIM: Control, Optimisation and Calculus of Variations, vol. 11, pp. 691–719, October 2005.
  10. M. Santos, Y. Diaz-Mercado, and M. Egerstedt, “Coverage control for multirobot teams with heterogeneous sensing capabilities,” IEEE Robotics and Automation Letters, vol. 3, no. 2, pp. 919–925, 2018.
  11. A. Breitenmoser, M. Schwager, J.-C. Metzger, R. Siegwart, and D. Rus, “Voronoi coverage of non-convex environments with a group of networked robots,” IEEE International Conference on Robotics and Automation, 2010.
  12. Y. Kantaros, M. Thanou, and A. Tzes, “Distributed coverage control for concave areas by a heterogeneous robot–swarm with visibility sensing constraints,” Automatica, vol. 53, pp. 195 – 207, 2015.
  13. J. Cortes, S. Martinez, T. Karatas, and F. Bullo, “Coverage control for mobile sensing networks: Variations on a theme,” Mediterranean Conferenceon Control and Automation, 2002.
  14. L. C. A. Pimenta, V. Kumar, R. C. Mesquita, and G. A. S. Pereira, “Sensing and coverage for a network of heterogeneous robots,” in 2008 47th IEEE Conference on Decision and Control, 2008, pp. 3947–3952.
  15. S. Wilson, P. Glotfelter, L. Wang, S. Mayya, G. Notomista, M. Mote, and M. Egerstedt, “The robotarium: Globally impactful opportunities, challenges, and lessons learned in remote-access, distributed control of multirobot systems,” IEEE Control Systems Magazine, vol. 40, no. 1, pp. 26–44, 2020.
  16. M. Schwager, D. Rus, and J.-J. Slotine, “Unifying geometric, probabilistic, and potential field approaches to multi-robot deployment,” The International Journal of Robotics Research, vol. 30, no. 3, pp. 371–383, 2011.
  17. M. Heymann, Feng Lin, G. Meyer, and S. Resmerita, “Analysis of zeno behaviors in a class of hybrid systems,” IEEE Transactions on Automatic Control, vol. 50, no. 3, pp. 376–383, 2005.
User Edit Pencil Streamline Icon: https://streamlinehq.com
Authors (3)
  1. Max Rudolph (8 papers)
  2. Sean Wilson (7 papers)
  3. Magnus Egerstedt (78 papers)
Citations (5)
View on Semantic Scholar

Summary

We haven't generated a summary for this paper yet.

Ai Sparkles Streamline Icon: https://streamlinehq.com Summarize Now