Safe Voronoi-based coverage control for multi-robot systems with constraints

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dc.creatorAndré Chaves Magalhães
dc.creatorGuilherme Vianna Raffo
dc.creatorLuciano Cunha A. Pimenta
dc.date.accessioned2025-06-03T13:50:06Z
dc.date.accessioned2025-09-08T23:18:12Z
dc.date.available2025-06-03T13:50:06Z
dc.date.issued2023
dc.identifier.doi10.1109/LARS/SBR/WRE59448.2023.10333067
dc.identifier.urihttps://hdl.handle.net/1843/82732
dc.languageeng
dc.publisherUniversidade Federal de Minas Gerais
dc.relation.ispartofLatin American Robotics Symposium (LARS 2023) / Brazilian Symposium on Robotics (SBR 2023) / Workshop on Robotics in Education (WRE 2023)
dc.rightsAcesso Restrito
dc.subjectRobôs - Sistemas de controle
dc.subject.otherAtmospheric modeling , Heuristic algorithms , Software algorithms , Chebyshev approximation , Mathematical models , Partitioning algorithms , Nonlinear dynamical systems
dc.subject.otherModel Predictive Control , Dubins Vehicles , Coverage Control , Chebyshev Center , Vector Fields
dc.subject.otherMulti-agent Systems , Constant Speed , Vector Field , Speed Limit , Model Predictive Control , Static Configuration , Voronoi Diagram , Optimal Coverage , Constant Curvature , Center Of Mass , Diagonal Matrix , Multi-agent , Nonlinear Dynamics , Unmanned Aerial Vehicles , Constant Velocity , Blue Dots , Linear Velocity , Prediction Horizon , Form Of Field , Real Robot , Circular Path , Swarm Robotics , Coverage Problem , Position Of The Robot , Virtual Agent , Real Agents , Nonholonomic , Orientation Of The Robot , Agent Dynamics
dc.titleSafe Voronoi-based coverage control for multi-robot systems with constraints
dc.typeArtigo de evento
local.citation.epage193
local.citation.spage188
local.description.resumoThis paper presents a control strategy based on Voronoi partitions to cover an environment with a multi-robot system with state and control constraints. A bounded convex work region is partitioned at each instant using a Voronoi algorithm, providing agents with non-overlapping navigation zones. The algorithm incorporates individual weights for each agent, modifying the partitions to assign a larger area to the agent with the highest weight. The proposed deployment aims to bring the entire system to a stable static configuration corresponding to optimal region coverage. This objective is achieved using a model predictive control and artificial vector fields to guide agents to curves with center points placed at Chebyshev Configurations of the Voronoi partition. The agents are modeled as Dubins airplanes with constant speed and curvature restriction. Simulations are performed using MATLAB software, and the results show the efficiency of the proposed control strategy.
local.publisher.countryBrasil
local.publisher.departmentENG - DEPARTAMENTO DE ENGENHARIA ELETRÔNICA
local.publisher.initialsUFMG
local.url.externahttps://ieeexplore.ieee.org/document/10333067

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