The COMRADE System for Multirobot Autonomous Landmine Detection in Postconflict Regions

Figure 8

Snapshots from Webots showing repartition coverage by robots in a environment with different obstacle features, (a) initial Voronoi partition, (b) robots performing boundary coverage on Voronoi cell, and black/light blue boundaries show inaccessible regions. (c) repartitioned cells and robots completing coverage of entire environment.

(a)

(b)

(c)