Human Dense Avoidance Based on Coverage Control through Robots - A Patrol Algorithm Taking into Account of Visible Region
Shu Morita, Yuki Okura, Chiaki Kojima · 2022 61st Annual Conference of the Society of Instrument and Control Engineers (SICE) · 2022
In this paper, we propose an efficient method for human dense avoidance based on a coverage control of multi-agent system. Our motivation is to contribute to an avoidance of human density in the current situation of COVID-19. We also aim to avoid crowding in social events and public spaces. Firstly, we consider a situation in which a robot autonomously patrols a region where human density occurs. As a main result, we propose a patrol algorithm in which robots distribute a cluster of humans by a coverage control if they discover them. Finally, we show an efficiency of the method based on a numerical simulation.