Distributed Persistent Awareness-Based Area Coverage Control by Mobile Robots
摘要
This paper presents a distributed, cooperative persistent coverage control for multi-robotic systems with limited communication and limited sensing range. The control framework synthesizes computational geometry-based algorithms with an awareness-based model to incentivize the frequent coverage of every point of interest in a large-scale domain. Theoretical results on the stability and convergence of awareness are given. The performance of the control approach is demonstrated via an experiment with a hexapod in a simulated cooperative environment.