Journal
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
Volume 17, Issue 6, Pages -Publisher
SAGE PUBLICATIONS INC
DOI: 10.1177/1729881420970461
Keywords
Multirobot system; Voronoi partitioning; path planning; information collection
Categories
Funding
- University of North Florida Foundation Board
Ask authors/readers for more resources
We consider the NP-hard problem of multirobot informative path planning in the presence of communication constraints, where the objective is to collect higher amounts of information of an ambient phenomenon. We propose a novel approach that uses continuous region partitioning into Voronoi components to efficiently divide an initially unknown environment among the robots based on newly discovered obstacles enabling improved load balancing between robots. Simulation results show that our proposed approach is successful in reducing the initial imbalance of the robots' allocated free regions while ensuring close-to-reality spatial modeling within a reasonable amount of time.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available