Title :
Performing coverage on nonconvex domains
Author :
Carlos H. Caicedo-Nunez;Milos Zefran
Author_Institution :
Department of Electrical and Computer Engineering, University of Illinois at Chicago, 60607, USA
Abstract :
We present a framework for extending coverage algorithms from convex to nonconvex domains. We are particularly interested in coverage in the presence of obstacles, that is domains that contain holes. We identify a class of connected regions in ℝ2 than can be mapped through a diffeomorphism to an almost convex region in ℝ2 - a convex region from which a finite (possibly empty) set of points has been subtracted. The transformation allows us to solve the coverage problem using the approach of Cortés et al. [1], and obtain the solution of the original problem through inverse transformation. We provide a formal analysis of the approach and demonstrate its effectiveness through simulations. We conclude the paper with a discussion on possible extensions of the work that we are currently undertaking.
Keywords :
"Cost function","Robots","Density functionional theory","Trajectory","Evolution (biology)","Jacobian matrices","Robot sensing systems"
Conference_Titel :
Control Applications, 2008. CCA 2008. IEEE International Conference on
Print_ISBN :
978-1-4244-2222-7
DOI :
10.1109/CCA.2008.4629612