Voronoi diagrams—a survey of a fundamental geometric data structure
ACM Computing Surveys (CSUR)
Deploy and Search Strategy for Multi-agent systems using Voronoi partitions
ISVD '07 Proceedings of the 4th International Symposium on Voronoi Diagrams in Science and Engineering
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In this thesis we address the problem of multi-agent search. We formulate two deploy and search strategies based on optimal deployment of agents in search space so as to maximize the search effectiveness in a single step. We show that a variation of centroidal Voronoi configuration is the optimal deployment. When the agents have sensors with different capabilities, the problem will be heterogeneous in nature. We introduce a new concept namely, generalized Voronoi partition in order to formulate and solve the heterogeneous multi-agent search problem. We address a few theoretical issues such as optimality of deployment, convergence and spatial distributedness of the control law and the search strategies. Simulation experiments are carried out to compare performances of the proposed strategies with a few simple search strategies.