Distributed coverage control for networked multi-robot systems in any environments

Abstract

We present a distributed coverage control for networked multi-robot systems in any environments. The distributed coverage control is developed by combining the interconnected hexagon-lattices based coverage and the hierarchical distributed control of networked multi-robot systems. The distributed coverage control is capable of driving mobile robots to move in the network to cover any environments. We have demonstrated the effectiveness of this distributed coverage control for the network of up-to 14 real mobile robots in both convex and non-convex real-world environments.