TY - JOUR

T1 - Self-Deployment of Mobile Robotic Networks: An Algorithm for Decentralized Sweep Boundary Coverage

AU - Semakova, Anna A.

AU - Ovchinnikov, Kirill S.

AU - Matveev, Alexey S.

PY - 2017

Y1 - 2017

N2 - Several nonholonomic Dubins-car like robots travel over paths with bounded curvatures in a plane that contains an a priori unknown region. The robots are anonymous to one another and do not use communication facilities. Any of them has access to the current minimum distance to the region and can determine the relative positions and orientations of the other robots within a finite and given visibility range. We present a distributed navigation and guidance strategy under which every robot autonomously converges to the desired minimum distance to the region with always respecting a given safety margin, the robots do not collide with one another and do not get into clusters, and the entire team ultimately sweeps over the respective equidistant curve at a speed exceeding a given threshold, thus forming a kind of a sweeping barrier at the perimeter of the region. Moreover, this strategy provides effective sub-uniform distribution of the robots over the equidistant curve. Mathematically rigorous justification of th

AB - Several nonholonomic Dubins-car like robots travel over paths with bounded curvatures in a plane that contains an a priori unknown region. The robots are anonymous to one another and do not use communication facilities. Any of them has access to the current minimum distance to the region and can determine the relative positions and orientations of the other robots within a finite and given visibility range. We present a distributed navigation and guidance strategy under which every robot autonomously converges to the desired minimum distance to the region with always respecting a given safety margin, the robots do not collide with one another and do not get into clusters, and the entire team ultimately sweeps over the respective equidistant curve at a speed exceeding a given threshold, thus forming a kind of a sweeping barrier at the perimeter of the region. Moreover, this strategy provides effective sub-uniform distribution of the robots over the equidistant curve. Mathematically rigorous justification of th

KW - Robot navigation

KW - Sensor-based control

KW - Multi-agent systems

KW - Decentralized control

KW - Sweep barrier coverage

U2 - 10.1017/S0263574716000539

DO - 10.1017/S0263574716000539

M3 - Article

VL - 35

SP - 1816

EP - 1844

JO - Robotica

JF - Robotica

SN - 0263-5747

IS - 9

ER -