Visibility-based multi-agent deployment in orthogonal environments

  • Ganguli A
  • Cortés J
  • Bullo F
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This paper presents algorithms for the deployment of
mobile agents with line-of-sight sensing and
communication capabilities in simply connected orthogonal
environments. A simply connected orthogonal environment
is a polygon without holes whose sides are either
parallel or perpendicular to each other. The main
objective is to achieve full visibility of the
environment. The agents are assumed to have access to a
local memory and their operation is partially
asynchronous. We propose methods based on incrementally
partitioning the environment while deploying the
agents. Novel contributions of this work include the
design of distributed algorithms to achieve the following
tasks: (i) complete coverage of simply connected
orthogonal environments; and (ii) complete coverage of
simply connected orthogonal environments such that the
final configuration of agents forms a network connected
via line-of-sight. In each case, we prove the remarkable
fact that the number of agents sufficient to complete the
task with the proposed algorithms are identical to the
ones obtained if the entire environment was known a
priori. A final contribution of the paper is the
characterization of the robustness properties of the
algorithms to agent failures in the case of deployment
with connectivity constraints.

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