A Generalized Voronoi Graph based Coverage Control Approach for Non-Convex Environment

• URL: http://arxiv.org/abs/2603.09596v1
• Date: Tue, 10 Mar 2026 12:42:53 GMT
• Title: A Generalized Voronoi Graph based Coverage Control Approach for Non-Convex Environment
• Abstract summary: This paper proposes a coverage control method based on the General Graphized VoronBalancingGVG.<n>In the load-balancing phase, the region is partitioned into multiple sub-regions based on GVG.<n>In the Collaborative Coverage phase, each robot is controlled by a new controller to effectively coverage the region.
• Score: 9.730448863739449
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: To address the challenge of efficient coverage by multi-robot systems in non-convex regions with multiple obstacles, this paper proposes a coverage control method based on the Generalized Voronoi Graph (GVG), which has two phases: Load-Balancing Algorithm phase and Collaborative Coverage phase. In Load-Balancing Algorithm phase, the non-convex region is partitioned into multiple sub-regions based on GVG. Besides, a weighted load-balancing algorithm is developed, which considers the quality differences among sub-regions. By iteratively optimizing the robot allocation ratio, the number of robots in each sub-region is matched with the sub-region quality to achieve load balance. In Collaborative Coverage phase, each robot is controlled by a new controller to effectively coverage the region. The convergence of the method is proved and its performance is evaluated through simulations.

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