Near Optimal Centroidal Voronoi Tessellation (CVT) algorithm Near-optimal Centroidal Voronoi Tessellation (CVT) algorithms. The algorithm has knowledge of the entire map in a centralized manner. It spawns random sites and iteratively moves them to the centroid of the Voronoi cell, until convergence. Hungarian algorithm is used to assign the robots to the sites. Out of the multiple tries, the best Voronoi is selected based on the objective function. More...
#include <omp.h>#include <time.h>#include <Eigen/Dense>#include <random>#include <vector>#include "CoverageControl/extern/lsap/Hungarian.h"#include "CoverageControl/typedefs.h"#include "CoverageControl/voronoi.h"
Include dependency graph for near_optimal_cvt_algorithm.h: This graph shows which files directly or indirectly include this file:Go to the source code of this file.
Namespaces | |
| namespace | CoverageControl |
| Namespace for the CoverageControl library. | |
Macros | |
| #define | EIGEN_NO_CUDA |
Functions | |
| auto | NearOptimalCVTAlgorithm (int const num_tries, int const max_iterations, int const num_sites, MapType const &map, int const map_size, double const res) |
| auto | NearOptimalCVTAlgorithm (int const num_tries, int const max_iterations, int const num_sites, MapType const &map, int const map_size, double const res, PointVector const &positions, Voronoi &voronoi) |
| auto | NearOptimalCVTAlgorithm (int const num_tries, int const max_iterations, int const num_sites, MapType const &map, int const map_size, double const res, PointVector const &positions) |
Detailed Description
Near Optimal Centroidal Voronoi Tessellation (CVT) algorithm Near-optimal Centroidal Voronoi Tessellation (CVT) algorithms. The algorithm has knowledge of the entire map in a centralized manner. It spawns random sites and iteratively moves them to the centroid of the Voronoi cell, until convergence. Hungarian algorithm is used to assign the robots to the sites. Out of the multiple tries, the best Voronoi is selected based on the objective function.
Definition in file near_optimal_cvt_algorithm.h.
Macro Definition Documentation
◆ EIGEN_NO_CUDA
| #define EIGEN_NO_CUDA |
Definition at line 38 of file near_optimal_cvt_algorithm.h.
