Multi-Robot Workspace Division Based on Compact Polygon Decomposition

IEEE Access

Esther Salami¹  Cristina Barrado¹  Georgy Skorobogatov¹ 

[1] Computer Architecture Department, Technical University of Catalonia, Castelldefels, Spain;

关键词: Multirobot systems;    workspace division;    polygon partition;   

DOI  :  10.1109/ACCESS.2021.3134760

来源: DOAJ

【 摘 要 】

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.

【 授权许可】

Unknown