Dynamic coverage control design of multi-agent systems under ellipse sensing regions

Longbiao Ma; Fenghua He; Long Wang; Denggao Ji; Yu Yao

Kybernetika (2018)

  • Volume: 54, Issue: 5, page 991-1010
  • ISSN: 0023-5954

Abstract

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This paper studies the dynamic coverage control problem for cooperative region reconnaissance where a group of agents are required to reconnoitre a given region. The main challenge of this problem is that the sensing region of each agent is an ellipse. This modeling results in asymmetric(directed) interactions among agents. First, the region reconnaissance is formulated as a coverage problem, where each point in the given region should be surveyed until a preset level is achieved. Then, a coverage control law is designed that minimizes coverage performance index by finite switches between nominal control laws and perturbation control law. Finally, numerical simulations are provided to indicate the efficiency of the proposed control law.

How to cite

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Ma, Longbiao, et al. "Dynamic coverage control design of multi-agent systems under ellipse sensing regions." Kybernetika 54.5 (2018): 991-1010. <http://eudml.org/doc/294750>.

@article{Ma2018,
abstract = {This paper studies the dynamic coverage control problem for cooperative region reconnaissance where a group of agents are required to reconnoitre a given region. The main challenge of this problem is that the sensing region of each agent is an ellipse. This modeling results in asymmetric(directed) interactions among agents. First, the region reconnaissance is formulated as a coverage problem, where each point in the given region should be surveyed until a preset level is achieved. Then, a coverage control law is designed that minimizes coverage performance index by finite switches between nominal control laws and perturbation control law. Finally, numerical simulations are provided to indicate the efficiency of the proposed control law.},
author = {Ma, Longbiao, He, Fenghua, Wang, Long, Ji, Denggao, Yao, Yu},
journal = {Kybernetika},
keywords = {coverage; multi-agent systems; region reconnaissance; ellipse sensing region},
language = {eng},
number = {5},
pages = {991-1010},
publisher = {Institute of Information Theory and Automation AS CR},
title = {Dynamic coverage control design of multi-agent systems under ellipse sensing regions},
url = {http://eudml.org/doc/294750},
volume = {54},
year = {2018},
}

TY - JOUR
AU - Ma, Longbiao
AU - He, Fenghua
AU - Wang, Long
AU - Ji, Denggao
AU - Yao, Yu
TI - Dynamic coverage control design of multi-agent systems under ellipse sensing regions
JO - Kybernetika
PY - 2018
PB - Institute of Information Theory and Automation AS CR
VL - 54
IS - 5
SP - 991
EP - 1010
AB - This paper studies the dynamic coverage control problem for cooperative region reconnaissance where a group of agents are required to reconnoitre a given region. The main challenge of this problem is that the sensing region of each agent is an ellipse. This modeling results in asymmetric(directed) interactions among agents. First, the region reconnaissance is formulated as a coverage problem, where each point in the given region should be surveyed until a preset level is achieved. Then, a coverage control law is designed that minimizes coverage performance index by finite switches between nominal control laws and perturbation control law. Finally, numerical simulations are provided to indicate the efficiency of the proposed control law.
LA - eng
KW - coverage; multi-agent systems; region reconnaissance; ellipse sensing region
UR - http://eudml.org/doc/294750
ER -

References

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