无人机与地面机器人协同部署，快速完成危险区域传感器覆盖。
Two-Layer Voronoi Coverage Control for Hybrid Aerial-Ground Robot Teams in Emergency Response: Implementation and Analysis
- 分层控制：空中与地面机器人分别优化定位，空中机空投传感器至重点区域。
- 响应速度提升88%，25秒内完成覆盖，较纯地面部署快220秒。
- 适用于应急救援场景，尤其适合地形复杂、时间紧迫的灾害现场。
本文提出一种面向危险品应急响应场景的混合空中-地面机器人团队两层维诺伊覆盖控制方法。传统维诺伊覆盖方法在应急情境下存在三大局限：异构机器人能力差异大（速度不同）、初始部署呈簇状分布、且需快速响应而非渐进收敛。本方法采用解耦的两层架构，分别优化空中与地面机器人的位置，由空中机器人通过空投方式将地面传感器投放至高优先级位置。研究详细实现了有界维诺伊单元计算、重要性加权质心的高效数值积分技术，以及防止机器人困住的鲁棒控制策略。仿真结果表明，相比纯地面部署，响应时间减少88%，在25秒内实现目标传感器覆盖（初始传感器损失18.5%），而地面仅部署需220秒。完整实现代码已公开于https://github.com/dHutchings/ME292B。
原文摘要 · Abstract (English)
We present a comprehensive two-layer Voronoi coverage control approach for coordinating hybrid aerial-ground robot teams in hazardous material emergency response scenarios. Traditional Voronoi coverage control methods face three critical limitations in emergency contexts: heterogeneous agent capabilities with vastly different velocities, clustered initial deployment configurations, and urgent time constraints requiring rapid response rather than eventual convergence. Our method addresses these challenges through a decoupled two-layer architecture that separately optimizes aerial and ground robot positioning, with aerial agents delivering ground sensors via airdrop to high-priority locations. We provide detailed implementation of bounded Voronoi cell computation, efficient numerical integration techniques for importance-weighted centroids, and robust control strategies that prevent agent trapping. Simulation results demonstrate an 88% reduction in response time, achieving target sensor coverage (18.5% of initial sensor loss) in 25 seconds compared to 220 seconds for ground-only deployment. Complete implementation code is available at https://github.com/dHutchings/ME292B.
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