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Distributed deployment of asynchronous guards in art galleries
A. Ganguli, J. Cortés, F. Bullo
Proceedings of the American Control Conference, Minneapolis, Minnesota, USA, 2006, pp. 1416-1421

Abstract

This paper presents deployment algorithms for multiple mobile robots with line-of-sight sensing and communication capabilities in a nonconvex polygon. The objective of the proposed algorithms is to achieve full visibility of the environment. We solve the problem by constructing a novel data structure called the vertex-induced tree and designing schemes to explore the nodes of the tree by means of distributed algorithms. The agents are assumed to have access to a memory and their operation is partially asynchronous.

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