Anchor-Oriented Localized Voronoi Partitioning for GPS-denied Multi-Robot Coverage
<|reference_start|>Anchor-Oriented Localized Voronoi Partitioning for GPS-denied Multi-Robot Coverage: Multi-robot coverage is crucial in numerous applications, including environmental monitoring, search and rescue operations, and precision agriculture. In modern applications, a multi-robot team must collaboratively explore unknown spatial fields in GPS-denied and extreme environments where global localization is unavailable. Coverage algorithms typically assume that the robot positions and the coverage environment are defined in a global reference frame. However, coordinating robot motion and ensuring coverage of the shared convex workspace without global localization is challenging. This paper proposes a novel anchor-oriented coverage (AOC) approach to generate dynamic localized Voronoi partitions based around a common anchor position. We further propose a consensus-based coordination algorithm that achieves agreement on the coverage workspace around the anchor in the robots' relative frames of reference. Through extensive simulations and real-world experiments, we demonstrate that the proposed anchor-oriented approach using localized Voronoi partitioning performs as well as the state-of-the-art coverage controller using GPS.<|reference_end|>
@article{munir2024anchor-oriented,
    title={Anchor-Oriented Localized Voronoi Partitioning for GPS-denied
  Multi-Robot Coverage},
    author={Aiman Munir, Ehsan Latif, Ramviyas Parasuraman},
    journal={arXiv preprint arXiv:2407.06296},
    year={2024},
    archivePrefix={arXiv},
    eprint={2407.06296},
    primaryClass={cs.RO cs.MA}
}