Automated Multi-Agent Search Using Centroidal Voronoi Configuration

Guruprasad, K. R.; Ghose, Debasish

doi:10.1109/tase.2010.2072920

Cited by 49 publications

(26 citation statements)

References 14 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…This concept has been used in several locational optimization, facility location [18], optimal sensor deployment [19] and multi-robot deployment [20]. In these problems, the nodes are made to move toward the respective centroids using a gradient based proportional control law (Lloyd's algorithm) while the Voronoi cells and hence the centroids are recomputed as the nodes move.…”

Section: Centroidal Voronoi Configurationmentioning

confidence: 99%

See 1 more Smart Citation

Centroidal Voronoi Partitioning using Virtual Nodes for MultiRobot Coverage

Nair¹,

Guruprasad²

2018

IJET

View full text Add to dashboard Cite

This paper addresses the problem of Voronoi partitioning using Centroidal Voronoi configuration for a multi-robotic coverage strategy known as Voronoi Partition based Coverage (VPC) algorithm. In VPC, the area to be covered is divided into Voronoi cells and each robot covers the corresponding cell. We use the concept of Centroidal Voronoi Configuration (CVC) to achieve a more uniform load distribution among the robots in terms of the area covered. Instead of the robots moving physically into the CVC, we introduce a concept of virtual nodes, which are deployed into CVC. Once the Voronoi partition is created based on the virtual nods, the robots cover the corresponding Voronoi cells. A gradient based control law has been used for deployment of the virtual nodes. Simulation results are provided to demonstrate the proposed deployment and partitioning scheme.

show abstract

Section: Centroidal Voronoi Configurationmentioning

confidence: 99%

“…We skip the details of formulation and theoretical results here. The details can be found in [19,20]. Initially the virtual nodes are located at the physical location of the robots.…”

Section: Centroidal Voronoi Configurationmentioning

confidence: 99%

Centroidal Voronoi Partitioning using Virtual Nodes for MultiRobot Coverage

Nair¹,

Guruprasad²

2018

IJET

View full text Add to dashboard Cite

show abstract

“…Though the work does not explicitly mention the swarm behavior of individual modules, it has a limited capability to act as both a swarm of robots (manipulators) and a modular AGV. Aerial robots (UAVs) have been used in applications such as disaster management [9], search and rescue [10], [11], etc. In this paper, we combine concepts from swarm robotics and modular robotics, to propose a new field of robotics that we call as swarm-dular robotics.…”

Section: Introductionmentioning

confidence: 99%

Swarm-dular quadcopter: bringing swarm robotics and modular robotics together

Mohan¹,

Guruprasad²

2018

IJET

View full text Add to dashboard Cite

In this paper, we present a new concept in robotics, which we call as swarm-dular robotics, by bringing together swarm robotics and modular robotics. We propose a swarm-dular quadcopter, which is a modular quadcopter, where, multiple wheeled ground robots (AGVs), which are part of a heterogenous swarm or multi-robotic(agent) system (MRS or MAS), attach/dock together to form an aerial quadcopter robot. We provide a conceptual design and demonstrate the proposed system using simulation experiments in Robot Operating System (ROS). Behavior of the system as both a swarm and a modular quadcopter UAV are demonstrated.

show abstract

“…In [15], extremum seeking technique [11] and averaging theory for partial differential equation is used to deploy a group of autonomous agents around the source in such a manner that the highest density of agents is achieved at the source. In [16], agents deployed in an unknown region for the purpose of search and uncertainty minimization eventually converge to the centroid of their Voronoi cells. This strategy requires agents to gather information about density distribution of every point in an area.…”

Section: Introductionmentioning

confidence: 99%

Path planning algorithms for source seeking agents

Zou

Tian

Bhattacharya

2015

The 27th Chinese Control and Decision Conference (2015 CCDC)

View full text Add to dashboard Cite

In this paper, we address the problem of source-seeking for sources that transmit signals which decay according to a specific path loss model. This is typical for sources emitting electromagnetic signals. Based on this decay profile, we analyze the scenario where the seeker has partial knowledge about the equation that governs the decay profile. We present an approximate gradient descent based iterative algorithm for this case. We prove that the seeker converges to the source after traveling a finite distance. We also present a quantitative measure of the performance of our algorithm in terms of the number of measurements required by the seeker. Next, we extend the aforementioned algorithm to provide cooperative path planning algorithms for a team of seekers. Finally, we provide simulation results that show the effectiveness of the algorithms.

show abstract

Automated Multi-Agent Search Using Centroidal Voronoi Configuration

Cited by 49 publications

References 14 publications

Centroidal Voronoi Partitioning using Virtual Nodes for MultiRobot Coverage

Centroidal Voronoi Partitioning using Virtual Nodes for MultiRobot Coverage

Swarm-dular quadcopter: bringing swarm robotics and modular robotics together

Path planning algorithms for source seeking agents

Contact Info

Product

Resources

About