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- W2510333290 abstract "This paper focuses on the coverage control of a group of heterogeneous mobile robots with nonholonomic constraints. The robots are subject to kinematic characteristic of pure-rolling, no-slip constraints. A network of mobile robots shall converge to the centroid of their Voronoi regions to get a final optimal sensing configuration. This shall be accomplished with a decentralized coverage control law. For an unknown environment, a parameter adaptive law is used for estimating the centroid of Voronoi cells. The parameters of the robots are unified using a consensus algorithm. We consider different types of driving mechanism such as differential drive and car-like robots, such that the method provided in this paper can be applied to a group of heterogeneous mobile robots. At the end of this paper, simulative results verify effectiveness of the improved distributed coverage algorithm." @default.
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- W2510333290 date "2016-07-01" @default.
- W2510333290 modified "2023-09-27" @default.
- W2510333290 title "Coverage control of multiple heterogeneous mobile robots with nonholonomic constraints" @default.
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- W2510333290 doi "https://doi.org/10.1109/chicc.2016.7554341" @default.
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