Coverage and control of diffusion process based on centroidal voronoi tessellations

Coverage and control problems of diffusion process using multiple mobile sensors and actuators have been considered in this paper. Algorithms for task allocation and obstacle avoidance have been considered for the mobile robots in this paper. The powerful tool of Centroidal Voronoi Tessellations (CVT) has been introduced in the partition of the workspace so that the robots can detect and detoxify the concentration of considered substance effectively. Simulation results using Diff-MAS2D have been employed to show the effectiveness of the proposed methods.