{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/anchor-oriented-localized-voronoi","title":"Anchor-Oriented Localized Voronoi Partitioning for GPS-denied Multi-Robot Coverage","arxiv_id":"2407.06296","date":"2024-07-08","proceeding":null,"authors":["Aiman Munir","Ehsan Latif","Ramviyas Parasuraman"],"abstract":"Multi-robot coverage is crucial in numerous applications, including environmental monitoring, search and rescue operations, and precision agriculture. In modern applications, a multi-robot team must collaboratively explore unknown spatial fields in GPS-denied and extreme environments where global localization is unavailable. Coverage algorithms typically assume that the robot positions and the coverage environment are defined in a global reference frame. However, coordinating robot motion and ensuring coverage of the shared convex workspace without global localization is challenging. This paper proposes a novel anchor-oriented coverage (AOC) approach to generate dynamic localized Voronoi partitions based around a common anchor position. We further propose a consensus-based coordination algorithm that achieves agreement on the coverage workspace around the anchor in the robots' relative frames of reference. Through extensive simulations and real-world experiments, we demonstrate that the proposed anchor-oriented approach using localized Voronoi partitioning performs as well as the state-of-the-art coverage controller using GPS.","url_abs":"https://arxiv.org/abs/2407.06296v1","url_pdf":"https://arxiv.org/pdf/2407.06296v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"anchor-oriented-localized-voronoi","repo_url":"https://github.com/herolab-uga/mr-aoc","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":0,"framework":"none","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}