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Distributed coverage of noconvex environments
A. Ganguli, J. Cortés, and F. Bullo
Networked Sensing Information and Control, ed. V. Saligrama, Proceedings of the NSF Workshop on Future Directions in Systems Research for Networked Sensing, Springer-Verlag, 2008, pp. 289-305

Abstract

Sensor networks and multi-agent robotic systems have been receiving increasing attention in recent times. This is due in no small part to the remarkable advances made in recent years in the development of small, agile, relatively inexpensive sensor nodes with mobile and networking capabilities. These sensor nodes are envisioned to be the basic components of complex networks intended to perform a wide variety of tasks. These include search and rescue, exploration, environmental monitoring, location-aware computing, and the maintaining of structures. The potential advantages of employing arrays of robotic sensors are numerous. For instance, certain tasks are difficult, if not impossible, when performed by a single agent. Further, a group of agents inherently provides robustness to failures of single agents or communication links. Motivated by these future scenarios, this paper focuses on algorithms for visually-guided agents, i.e., mobile robotic agents with line-of-sight sensing and communication capabilities, to solve a distributed version of the Art Gallery Problem.

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Mechanical and Aerospace Engineering, University of California, San Diego
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