{"ID":2856888,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2510.10781","arxiv_id":"2510.10781","title":"Two-Layer Voronoi Coverage Control for Hybrid Aerial-Ground Robot Teams in Emergency Response: Implementation and Analysis","abstract":"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.","short_abstract":"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 di...","url_abs":"https://arxiv.org/abs/2510.10781","url_pdf":"https://arxiv.org/pdf/2510.10781v1","authors":"[\"Douglas Hutchings\",\"Luai Abuelsamen\",\"Karthik Rajgopal\"]","published":"2025-10-12T19:53:40Z","proceeding":"cs.RO","tasks":"[\"cs.RO\",\"cs.MA\",\"eess.SY\"]","methods":"[]","has_code":false,"code_links":[{"ID":608393,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_id":2856888,"paper_url":"https://arxiv.org/abs/2510.10781","paper_title":"Two-Layer Voronoi Coverage Control for Hybrid Aerial-Ground Robot Teams in Emergency Response: Implementation and Analysis","repo_url":"https://github.com/dHutchings/ME292B","is_official":false,"mentioned_in_paper":false,"mentioned_in_github":true,"github_stars":0}]}