Spatially-distributed coverage optimization and control with limited-range interactions

Jorge Cortés; Sonia Martínez; Francesco Bullo

ESAIM: Control, Optimisation and Calculus of Variations (2005)

  • Volume: 11, Issue: 4, page 691-719
  • ISSN: 1292-8119

Abstract

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This paper presents coordination algorithms for groups of mobile agents performing deployment and coverage tasks. As an important modeling constraint, we assume that each mobile agent has a limited sensing or communication radius. Based on the geometry of Voronoi partitions and proximity graphs, we analyze a class of aggregate objective functions and propose coverage algorithms in continuous and discrete time. These algorithms have convergence guarantees and are spatially distributed with respect to appropriate proximity graphs. Numerical simulations illustrate the results.

How to cite

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Cortés, Jorge, Martínez, Sonia, and Bullo, Francesco. "Spatially-distributed coverage optimization and control with limited-range interactions." ESAIM: Control, Optimisation and Calculus of Variations 11.4 (2005): 691-719. <http://eudml.org/doc/244900>.

@article{Cortés2005,
abstract = {This paper presents coordination algorithms for groups of mobile agents performing deployment and coverage tasks. As an important modeling constraint, we assume that each mobile agent has a limited sensing or communication radius. Based on the geometry of Voronoi partitions and proximity graphs, we analyze a class of aggregate objective functions and propose coverage algorithms in continuous and discrete time. These algorithms have convergence guarantees and are spatially distributed with respect to appropriate proximity graphs. Numerical simulations illustrate the results.},
author = {Cortés, Jorge, Martínez, Sonia, Bullo, Francesco},
journal = {ESAIM: Control, Optimisation and Calculus of Variations},
keywords = {distributed dynamical systems; coordination and cooperative control; geometric optimization; nonsmooth analysis; Voronoi partitions; Distributed dynamical systems},
language = {eng},
number = {4},
pages = {691-719},
publisher = {EDP-Sciences},
title = {Spatially-distributed coverage optimization and control with limited-range interactions},
url = {http://eudml.org/doc/244900},
volume = {11},
year = {2005},
}

TY - JOUR
AU - Cortés, Jorge
AU - Martínez, Sonia
AU - Bullo, Francesco
TI - Spatially-distributed coverage optimization and control with limited-range interactions
JO - ESAIM: Control, Optimisation and Calculus of Variations
PY - 2005
PB - EDP-Sciences
VL - 11
IS - 4
SP - 691
EP - 719
AB - This paper presents coordination algorithms for groups of mobile agents performing deployment and coverage tasks. As an important modeling constraint, we assume that each mobile agent has a limited sensing or communication radius. Based on the geometry of Voronoi partitions and proximity graphs, we analyze a class of aggregate objective functions and propose coverage algorithms in continuous and discrete time. These algorithms have convergence guarantees and are spatially distributed with respect to appropriate proximity graphs. Numerical simulations illustrate the results.
LA - eng
KW - distributed dynamical systems; coordination and cooperative control; geometric optimization; nonsmooth analysis; Voronoi partitions; Distributed dynamical systems
UR - http://eudml.org/doc/244900
ER -

References

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