In this paper, we address a problem of multi-robotic coverage, where an area of interest is covered by multiple sensors, each mounted on an autonomous vehicle such as an aerial or a ground mobile robot. The area of interest is first decomposed into grids of equal size and then partitioned into Voronoi cells. Each robot/sensor is assigned the task of covering the corresponding Voronoi cell. We propose an optimal gridding size and partitioning methodology that eliminate the coverage inefficiencies induced by the partitioning process. We carried out experiments using multiple quadcopters and mobile robots to demonstrate and validate the proposed multi-sensor coverage strategy.

在本文中，我们解决了多机器人覆盖的问题，其中感兴趣的区域被多个传感器覆盖，每个传感器都安装在诸如空中或地面移动机器人之类的自动驾驶汽车上。首先将感兴趣区域分解成大小相等的网格，然后划分为Voronoi单元。每个机器人/传感器都被分配覆盖相应的Voronoi单元的任务。我们提出了一种最佳的网格大小和分区方法，以消除由分区过程引起的覆盖效率低下的问题。我们使用多个四轴飞行器和移动机器人进行了实验，以演示和验证所提出的多传感器覆盖策略。