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Discrete Partitioning and Coverage Control for Gossiping Robots
2012
IEEE Transactions on robotics
We propose distributed algorithms to automatically deploy a team of mobile robots to partition and provide coverage of a non-convex environment. To handle arbitrary non-convex environments, we represent them as graphs. Our partitioning and coverage algorithm requires only short-range, unreliable pairwise "gossip" communication. The algorithm has two components: (1) a motion protocol to ensure that neighboring robots communicate at least sporadically, and (2) a pairwise partitioning rule to
doi:10.1109/tro.2011.2170753
fatcat:mn5zdcogove7ppunfzrygz3cva