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Visibility-based distributed deployment of robotic teams in polyhedral terrains
A. Ma, J. Cortés
Proceedings of the ASME Dynamic Systems and Control Conference, Minneapolis, Minnesota, 2016, DSCC2016-9820

Abstract

This paper presents deployment strategies for a team of multiple mobile robots with line-of-sight visibility in 1.5D and 2.5D terrain environments. Our objective is to distributively achieve full visibility of a polyhedral environment. In the 1.5D polyhedral terrain, we achieve this by determining a set of locations that the robots can distributively occupy. In the 2.5D polyhedral terrain, we achieve full visibility by simultaneously exploring, coloring, and guarding the environment

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