This package contains all of the code for my Final Project in CSCI 8535: Multi Robot Systems
The paper I chose to extend to satisfy the project requirements is titled "Voronoi-based Coverage Control with Connectivity Maintenance for
Robotic Sensor Networks". I have included this research paper in the /doc folder of this repository, and it can be viewed at the link below.
View Research Paper PDF
Paper Citation
W. Luo and K. Sycara, “Voronoi-based coverage control with connectivity maintenance for robotic sensor networks,” in Proc. 2019 Int. Symp. on Multi-Robot and Multi-Agent Systems (MRS). IEEE, 2019.
The final report I completed for this project is located in the /doc folder of this repository and can be viewed at the link below.
View Final Report PDF
The main code for this repository is located in the /scripts folder. Within this folder there are the /coverage and /plotting folders which contain code for different categories.
The /coverage folder contains the scripts voronoi.py and connected_voronoi.py, which provide the baselines for Standard Voronoi partitioning and the proposed partitioning from the research paper, respectively. My algorithm is dynamic_connected_voronoi.py, and builds on the proposed algorithm by implementing a dynamic communication range. The Python file coverage.py runs each of the coverage scripts one-by-one, which is useful for comparing each method with the same distribution function, especially if it is randomly generated.
The /plotting folder contains a number of scripts that are used to plot the data acquired from running each coverage script. The main script, plot_data.py, plots all of the available data in a number of ways. You can also run the other scripts independently.
In order to run these scripts, you need to install the required Python environment. This is described by the environment.yml in the root directory and can be installed if you have Anaconda using the following command.
conda env create -f environment.yml
This environment will be createed with the name "im_sync". To activate the environment use the following command.
conda activate im_sync
Feel free to change the name of this environment by going to the environment.yml file and modifying the name in the first line. Make sure to adapt the command above accordingly.
The /data folder holds all of the data that is collected from running each coverage control script. The /last folder holds the most recent output file from each coverage script. The /archive folder holds all of the experimental data for past runs of each method on the same environment. If you wish to keep the data collected from a run, make sure to move it into the /archive folder before running the coverage scripts again because they will replace the previous output file in the /last folder.