Voronoi multi-robot coverage control in non-convex environments with human interaction in virtual reality

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dc.creatorLucas Coelho Figueiredo
dc.creatorÍtalo Lelis de Carvalho
dc.creatorLuciano Cunha de Araújo Pimenta
dc.date.accessioned2025-04-09T13:55:07Z
dc.date.accessioned2025-09-08T22:53:13Z
dc.date.available2025-04-09T13:55:07Z
dc.date.issued2018
dc.identifier.urihttps://hdl.handle.net/1843/81400
dc.languageeng
dc.publisherUniversidade Federal de Minas Gerais
dc.relation.ispartofXXII Congresso Brasileiro de Automática
dc.rightsAcesso Aberto
dc.subjectRobôs - Sistemas de controle
dc.subjectRobótica
dc.subject.otherHuman swarm interaction, multi-robot coverage, multi-robot systems, virtual reality, teleopera-tion
dc.subject.otheran application for coverage control of environments with the interaction of a human agent using a virtual reality headset. Users could then interact with the swarm by creating obstacles, changing the density distribution function (altering the concentration of robots), selecting robots to increase their speed and their power on the area and move freely on the area, either by walking around, teleporting or flying.
dc.titleVoronoi multi-robot coverage control in non-convex environments with human interaction in virtual reality
dc.typeArtigo de evento
local.citation.epage8
local.citation.spage1
local.description.resumoThis work presents the implementation of a robot coverage algorithm in non-convex environmentswith the interaction of the robot group with a human agent in a virtual reality (VR) environment. On the virtualreality application, the control of the group of robots is abstracted to simple commands, allowing the users tointeract with the swarm by creating and removing obstacles, creating density distribution functions and alteringthe speed of robots. Simulations were implemented using ROS and Unity and demonstrate that robots couldreact to the changes of the simulation environment imposed by the human agent.
local.publisher.countryBrasil
local.publisher.departmentENG - DEPARTAMENTO DE ENGENHARIA ELETRÔNICA
local.publisher.initialsUFMG
local.url.externahttps://www.sba.org.br/open_journal_systems/index.php/cba/article/view/546/508

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