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Anchor-oriented Multi-Robot Coverage without Global Localization

It is a Robotarium package that implements the approach from the paper "Anchor-oriented Multi-Robot Coverage without Global Localization". It uses an anchor as a reference for multi-robot coverage using only relative localization. This package contains Robotarium Python codes:

  • AOC Coverage
  • AOC with dynamic AP

Video Demo

IMAGE ALT TEXT HERE

Installation and Usage

Requirements/Dependencies

1. Setup:

Clone the package to your local directory and navigate to mr-aoc directory inside the package.

1. Simulation:

Run the robotarium script for mr-aoc for covergae as:

python3 executeCoverageScript.py

Run the robotarium script for mr-aoc for dynamic AP as:

python3 executeCoverageScript_dynamicAP.py

Core contributors

  • Aiman Munir - PhD Candidate

  • Ehsan Latif - PhD

  • Dr. Ramviyas Parasuraman - Lab Director

Heterogeneous Robotics (HeRoLab)

Heterogeneous Robotics Lab (HeRoLab), School of Computing, University of Georgia.

For further information, contact Amina Munir [email protected], Ehsan Latif [email protected] or Dr. Ramviyas Parasuraman [email protected]

https://hero.uga.edu/

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Multi-Robot Anchor-oriented Coverage

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