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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  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. Thisdoi:10.1109/icra.2011.5980415 dblp:conf/icra/HaumannBWLS11 fatcat:rjqsweynprbtxgio44yunequuu