The COMRADE System for Multirobot Autonomous Landmine Detection in Postconflict Regions

Figure 7

(a) The Voronoi cells of two robots are partially inaccessible due to obstacles. The blue solid arrows show the path taken by a robot to reach the inaccessible portions of its cell using a bug-like path planning algorithm. (b) Robots coordinate with each other to repartition the initial Voronoi cells so that each robot has a contiguous region to cover.

(a)

(b)