Two-Layer Voronoi Coverage Control for Hybrid Aerial-Ground Robot Teams in Emergency Response: Implementation and Analysis

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 atthis https URL.