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

Installation and Usage

Requirements/Dependencies

• python 3.6+
• Robotarium Installation is required for the Robotarium simulation

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 aiman.munir@uga.edu, Ehsan Latif ehsan.latif@uga.edu or Dr. Ramviyas Parasuraman ramviyas@uga.edu

https://hero.uga.edu/