DisCoverage for non-convex environments with arbitrary obstacles

Dominik Haumann, Andreas Breitenmoser, Volker Willert, Kim Listmann, Roland Siegwart
2011 2011 IEEE International Conference on Robotics and Automation  
DisCoverage is a distributed strategy for frontierbased multi-robot exploration. The robots coordinate by a partition of the environment, and choose their target points by optimizing a locally decomposable objective function. In [9] DisCoverage for convex regions was proposed. In this work, we extend DisCoverage to support arbitrary non-convex realworld environments with obstacles. Therefore, we introduce a transformation of non-convex environments to robot centric star-shaped domains. This
more » ... lts in a general solution with broader applications for exploration and path planning. Simulations as well as experiments with real robots demonstrate the exploration progress.
doi:10.1109/icra.2011.5980415 dblp:conf/icra/HaumannBWLS11 fatcat:rjqsweynprbtxgio44yunequuu