Summary
A distributed algorithm is presented that causes a network of robots to spread out over an environment, while aggregating in areas of high sensory interest. The algorithm is a discrete-time interpretation of a controller previously introduced by the authors. The algorithmic implications of implementing this controller on a physical platform are discussed, and results are presented for 16 robots in two experiments. It is found that the algorithm performs well despite the presence of real-world complications.
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Schwager, M., McLurkin, J., Slotine, JJ.E., Rus, D. (2009). From Theory to Practice: Distributed Coverage Control Experiments with Groups of Robots. In: Khatib, O., Kumar, V., Pappas, G.J. (eds) Experimental Robotics. Springer Tracts in Advanced Robotics, vol 54. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-00196-3_15
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DOI: https://doi.org/10.1007/978-3-642-00196-3_15
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-00195-6
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