Adaptive coverage control with Guaranteed Power Voronoi Diagrams

Abstract

In this paper, we present a new Voronoi partitioning concept for coordination of the mobile agents which takes imprecision in localization into account. By using the Guaranteed Power Voronoi Diagrams (GPVD), the regions assigned to the agents can be changed by using the weights of the cells as in Power Voronoi Diagrams. Also, the proposed adaptive coordination algorithm is based on adaptive coverage control and GPVDs. The Lyapunov-type stability proof of the algorithm is presented with simulation results.