センサ故障を考慮した群ロボットの被覆維持制御

抄録

We propose an autonomous movement control method that aims to maintain sensor coverage of the entire multi-robot system as much as possible, even when some robots have sensor failures. To reduce the degradation of the sensor coverage, the failed robot's position is moved to the position of the robot that does not contribute to the sensor coverage. Computer simulations confirm the effectiveness of the proposed method.