Coverage for robotics – A survey of recent results
Annals of Mathematics and Artificial Intelligence
Simulated Annealing: A Proof of Convergence
IEEE Transactions on Pattern Analysis and Machine Intelligence
Decentralized, Adaptive Coverage Control for Networked Robots
International Journal of Robotics Research
Near-optimal observation selection using submodular functions
AAAI'07 Proceedings of the 22nd national conference on Artificial intelligence - Volume 2
Distributed Control of Robotic Networks: A Mathematical Approach to Motion Coordination Algorithms
Distributed Control of Robotic Networks: A Mathematical Approach to Motion Coordination Algorithms
Optimal coverage for multiple hovering robots with downward facing cameras
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Dynamic Vehicle Routing with Priority Classes of Stochastic Demands
SIAM Journal on Control and Optimization
Connectedness Preserving Distributed Swarm Aggregation for Multiple Kinematic Robots
IEEE Transactions on Robotics
Stigmergic coverage algorithm for multi-robot systems (demonstration)
Proceedings of the 11th International Conference on Autonomous Agents and Multiagent Systems - Volume 3
A multi-robot coverage approach based on stigmergic communication
MATES'12 Proceedings of the 10th German conference on Multiagent System Technologies
Efficient base station connectivity area discovery
International Journal of Robotics Research
Robotics and Autonomous Systems
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This paper unifies and extends several different existing strategies for deploying groups of robots in an environment. A cost function is proposed that can be specialized to represent widely different multi-robot deployment tasks. It is shown that geometric and probabilistic deployment strategies that were previously seen as distinct are in fact related through this cost function, and differ only in the value of a single parameter. These strategies are also related to potential field-based controllers through the same cost function, though the relationship is not as simple. Distributed controllers are then obtained from the gradient of the cost function and are proved to converge to a local minimum of the cost function. Three special cases are derived as examples: a Voronoi-based coverage control task, a probabilistic minimum variance task, and a task using artificial potential fields. The performance of the three different controllers are compared in simulation. A result is also proved linking multi-robot deployment to non-convex optimization problems, and multi-robot consensus (i.e. all robots moving to the same point) to convex optimization problems, which implies that multi-robot deployment is inherently more difficult than multi-robot consensus.