Distributed coverage and exploration in unknown non-convex environments

Summary. We consider the problem of multi-robot exploration and coverage in unknown non-convex environments. The contributions of the work include (1) the presentation of a distributed algorithm that computes the generalized Voronoi tessellation of non-convex environments (using a discrete representation) in real-time for use in feedback control laws; and (2) the extension of this method to entropy-based metrics that allow for cooperative coverage control in unknown non-convex environments. Simulation results demonstrate the application of the control methodology for cooperative exploration and coverage in an office environment