Constrained coverage for heterogeneous multi-robot team

Coverage control without global information is a fundamental problem in multi-robot mapping and exploration applications. In this paper, we propose a coverage control algorithm for a heterogeneous group of robots which imposed area constraints. A distributed control algorithm for covering specific area according to observable heterogeneity is presented The algorithm is based on the concept of a centroidal voronoi diagram with local information exchange between team members.The algorithm works under limited sensory and communication range constraints. Preliminary simulation results are presented confirming effectiveness of the presented approach.