Workspace Allocation for Team of Robots with Different Actuation Capabilities

In this paper, the adaptation of multiple agents to actuation performance ariations under localization uncertainty is inestigated. The agents are modeled as nonholonomic wheeled mobile ehicles and Guaranteed Power Diagrams (GPD or GPD) are used in order the robots to partition the workspace under the assumption that the locations of the agents are known within uncertainty circles. An online adaptie estimation algorithm is used for each agent to calculate the weight of its GP-cell. So, the robots accomplish the coerage control to perform a collaboratie task by giing larger portions of the workspace to the agents that hae better actuation performances and smaller regions to the ones whose performances are worse than the other agents. Simulation results and ROS implementation show the effectieness of the algorithm.