A coverage algorithm for a class of non-convex regions

— The paper describes a framework for solving the coverage problem for a class of non-convex domains. In [1] we have shown how a diffeomorphism can be used to transform a non-convex coverage problem to a convex one to which the Lloyd’s algorithm [2] can be applied. In this paper we show how a diffeomorphism can be constructed for convex regions with obstacles in its interior, so that the solution of the transformed problem yields the solution of the original non-convex problem. As part of this investigation we also identify stationary points of the Lloyd’s algorithm in nonconvex domains. We provide the formal analysis of the approach and demonstrate its effectiveness through simulations.

• Type: Conference
• Year: 2008
• Where: CDC
• Authors: Carlos H. Caicedo-Nunez, Milos Zefran
• Keywords: CDC 2008, Control Systems, Coverage Problem, Non-convex Coverage Problem, Non-convex Domains