A collaborative scheme of multiple ground and aerial robots applying a heterogeneous coverage control approach is presented. It aims to provide a density map of a contaminated area from hazardous material. Compared to a homogeneous scheme, heterogeneity enhances the coverage level by minimizing error and variance due to the estimation process. In this scheme, a weighting formulation based on the different characteristics of ground and aerial robots is formalized. The contaminated area is partitioned unequally according to the number of deployed robots corresponding to the robot’s weight and type. It shows better estimation values of the estimated density distribution map than the homogeneous scheme. The operation time needed to provide an estimation map of density distribution over the region is also faster than the homogeneous scheme.

提出了一种应用异构覆盖控制方法的多地面和空中机器人的协作方案。它旨在提供危险物质污染区域的密度图。与同质方案相比，异质性通过最小化估计过程引起的误差和方差来提高覆盖水平。在该方案中，形式化了基于地面和空中机器人不同特性的加权公式。污染区根据机器人的重量和类型对应部署的机器人数量进行不均等划分。它显示了比均匀方案更好的估计密度分布图的估计值。提供区域密度分布估计图所需的操作时间也比均质方案快。