Distributed area coverage control with imprecise robot localization:   Simulation and experimental studies
  This article examines the area coverage problem for a network of mobile robots with imprecise agents' localization. Each robot has uniform radial sensing ability, governed by first order kinodynamics. The convex-space is partitioned based on the Guaranteed Voronoi (GV) principle and each robot's area of responsibility corresponds to its GV-cell, bounded by hyperbolic arcs. The proposed control law is distributed, demanding the positioning information about its GV-Delaunay neighbors. Simulation and experimental studies are offered to highlight the efficiency of the proposed control law. 
Sotiris Papatheodorou, Anthony Tzes, Konstantinos Giannousakis and   Yiannis Stergiopoulos
cs.SY cs.RO