Multi-Robot workspace division based on compact polygon decomposition
In this work, we tackle the problem of multi-robot convex workspace division. We present an algorithm to split a convex area among several robots into the corresponding number of parts based on the area requirements for each part. The core idea of the algorithm is a sequence of divisions into pairs...
| Autores: | , , |
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| Formato: | artículo |
| Fecha de publicación: | 2021 |
| País: | España |
| Recursos: | Universitat Politècnica de Catalunya (UPC) |
| Repositorio: | UPCommons. Portal del coneixement obert de la UPC |
| Idioma: | inglés |
| OAI Identifier: | oai:upcommons.upc.edu:2117/359200 |
| Acesso em linha: | https://hdl.handle.net/2117/359200 https://dx.doi.org/10.1109/ACCESS.2021.3134760 |
| Access Level: | acceso abierto |
| Palavra-chave: | Voronoi polygons Mobile robots--Automatic control Multiagent systems Intelligent control systems Multirobot systems Workspace division Polygon partition Robots--Sistemes de control Control intel·ligent Àrees temàtiques de la UPC::Enginyeria de la telecomunicació |
| Resumo: | In this work, we tackle the problem of multi-robot convex workspace division. We present an algorithm to split a convex area among several robots into the corresponding number of parts based on the area requirements for each part. The core idea of the algorithm is a sequence of divisions into pairs with the lowest possible perimeters. In this way, the compactness of the partitions obtained is maximized. The performance of the algorithm, as well as the quality of the obtained parts, are analyzed in comparison with two different algorithms. The presented approach yields better results in all metrics compared to other algorithms. |
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