Article
MSC:
62A10,
68T40,
93A14,
93C85,
93E12 | MR 3195002 | Zbl 1302.93225 | DOI: 10.14736/kyb-2014-1-0019
Full entry |
PDF
(0.3 MB)
Feedback
PDF
(0.3 MB)
Feedback
Keywords:
sweep coverage; multi-robot networks; discrete time; general topologies
sweep coverage; multi-robot networks; discrete time; general topologies
Summary:
This paper addresses a sweep coverage problem of multi-robot networks with general topologies. To deal with environmental uncertainties, we present discrete time sweep coverage algorithms to guarantee the complete coverage of the given region by sweeping in parallel with workload partition. Moreover, the error between actual coverage time and the optimal time is estimated with the aid of continuous time results. Finally, numerical simulation is conducted to verify the theoretical results.
References:
[1] Cortés, J., Martínez, S., Karatas, T., Bullo, F.: Coverage control for mobile sensing network. IEEE Trans. Robotics Automat. 20 (2004), 243-255. DOI 10.1109/TRA.2004.824698
[2] Cheng, T. M., Savkin, A. V.: Decentralized coordinated control of a vehicle network for deployment in sweep coverage. In: Proc. IEEE Internat. Conference on Control and Automation, Christchurch 2009.
[3] Du, Q., Faber, V., Gunzburger, M.: Centroidal Voronoi tesseuations: applications and algorithms. SIAM Rev. 41 (1999), 637-676. DOI 10.1137/S0036144599352836 | MR 1722997
[4] Gage, D. W.: Command control for many-robot systems. In: Proc. 19th Annual AUVS Teachnical Symposium, Huntsville 1992.
[5] Gear, C. W.: Numerical Initial Value Problems for Ordinary Differential Equations. Prentice-Hall, Englewood Cliffs, New Jersey 1971. MR 0315898
[6] Hong, Y., Hu, J., Gao, L.: Tracking control for multi-agent consensus with an active leader and variable topology. Automatica 42 (2006), 1177-1182. DOI 10.1016/j.automatica.2006.02.013 | MR 2230987 | Zbl 1117.93300
[7] Horn, R. A., Johnson, C. R.: Matrix Analysis. Cambridge University Press, Cambridge 1987. Zbl 0801.15001
[8] Howard, A., Parker, L. E., Sukhatme, G.: Experiments with a large heterogeneous mobile robot team: Exploration, mapping, deployment and detection. Internat. J. Robotics Research 25 (2006), 431-447. DOI 10.1177/0278364906065378
[9] Hu, J., Feng, G.: Distributed tracking control of leader-follower multi-agent systems under noisy measurement. Automatica 46 (2010), 1382-1387. DOI 10.1016/j.automatica.2010.05.020 | MR 2877254 | Zbl 1204.93011
[10] Ren, W., Beard, R.: Distributed Consensus in Multi-vehicle Cooperative Control. Springer-Verlag, London 2008. Zbl 1144.93002
[11] Renzaglia, A., Doitsidis, L., Martinelli, A., Kosmatopoulos, E.: Adaptive-based distributed cooperative multi-robot coverage. In: Proc. American Control Conference, San Francisco 2011.
[12] Schwager, M., Rus, D., Slotine, J. J. E.: Decentralized, adaptive control for coverage with networked robots. Internat. J. Robotics Research 28 (2009), 357-375. DOI 10.1177/0278364908100177
[13] Shi, G., Hong, Y.: Global target aggregation and state agreement of nonlinear multi-agent systems with switching topologies. Automatica 45 (2009), 1165-1175. DOI 10.1016/j.automatica.2008.12.015 | MR 2531590 | Zbl 1162.93308
[14] Shi, G., Hong, Y., Johansson, K.: Connectivity and set tracking of multi-agent systems guided by multiple moving leaders. IEEE Trans. Automat. Control 57 (2012), 663-676. DOI 10.1109/TAC.2011.2164733 | MR 2932823
[15] Wang, X., Han, F.: Robust coordination control of switching multi-agent systems via output regulation approach. Kybernetika 47 (2012), 755-772. MR 2850462 | Zbl 1236.93010
[16] Zhai, C., Hong, Y.: Decentralized sweep coverage algorithm for multi-agent systems with workload uncertainties. Automatica 49 (2013), 2154-2159. DOI 10.1016/j.automatica.2013.03.017 | MR 3063071
[17] Zhang, H., Zhai, C., Chen, Z.: A general alignment repulsion algorithm for flocking of multi-agent systems. IEEE Trans. Autom. Control 56 (2011), 430-435. DOI 10.1109/TAC.2010.2089652 | MR 2761116
Search
Partner of
