DocumentCode
622573
Title
Distributed coverage control of multi-agent systems using navigation functions
Author
Chao Zhai ; Yiguang Hong
Author_Institution
Key Lab. of Syst. & Control, Acad. of Math & Syst. Sci., Beijing, China
fYear
2013
fDate
12-14 June 2013
Firstpage
1691
Lastpage
1695
Abstract
This paper addresses the coverage problem of multiple mobile agents in the environment. A new formulation is proposed for some coverage problems. Meanwhile, a distributed control method is developed for each agent to optimize the global configuration in parallel with collision avoidance. Moreover, it is proved that locally optimal configuration can be achieved with the aid of navigation functions.
Keywords
collision avoidance; distributed control; mobile robots; multi-robot systems; collision avoidance; distributed coverage control problem; global configuration optimization; locally optimal configuration; multiagent systems; multiple mobile agents; navigation functions; Multi-agent systems; Navigation; Robot sensing systems; Trajectory; Tuning;
fLanguage
English
Publisher
ieee
Conference_Titel
Control and Automation (ICCA), 2013 10th IEEE International Conference on
Conference_Location
Hangzhou
ISSN
1948-3449
Print_ISBN
978-1-4673-4707-5
Type
conf
DOI
10.1109/ICCA.2013.6565000
Filename
6565000
Link To Document