Convergência e cobertura de curvas por sistemas multi-robôs

Abstract

This paper deals with the problems of convergence and coverage of multiple robots in a generic1-dimensional curve. More specifically, the goal is to design distributed control laws to make a multiagent system converge and distribute itself optimally along the curve. This problem is solved with the use of artificial vector fields for convergence to the curve and Voronoi partitions for the control of the coverage of the multiagent system. Moreover, when considering the presence of an obstacle, robots are able to create auxiliary curves in order to dodge it. The presented methodology is evaluated in simulation, in which four holonomic mobile robots converge to a curve and distribute themselves in it, avoiding collisions with known obstacles. The results graphically show the convergence and distribution of the agents in the curve.