Multi-robot Voronoi tessellation based area partitioning algorithm study

Paladyn: Journal of Behavioral Robotics

卷:9

Kirik Konstantin¹  Alexandrov Vladimir¹  Kobrin Alexander¹ 

[1] National Research University "Moscow Power Engineering Institute",Moscow, Russia;

关键词: mobile autonomous robots;    cooperative behavior;    collective behavior;    collaborative multi-robot task;    voronoi tessellation;    area partitioning;    simulation;   

DOI  :  10.1515/pjbr-2018-0014

来源: DOAJ

【 摘 要 】

This article is focused on the multi-robot applied Voronoi tessellation based area partitioning algorithm operation and properties. The selection of main parameters of the algorithm is covered and explanation of the algorithm functionality is given. The subspace area equality and the operation time are taken as main measures of the algorithm operation for experiments where a dependency on the border shape and structure and a number of robots in the group are considered. The experimental data, gained during the study, is summarized mainly in a graphical way.

【 授权许可】

Unknown