Optimal deployment of heterogeneous mobile agents on a circle

Author

Cheng Song ; Lu Liu ; Gang Feng

Author_Institution

Sch. of Autom., Nanjing Univ. of Sci. & Technol., Nanjing, China

fYear

2014

fDate

28-30 July 2014

Firstpage

1168

Lastpage

1172

Abstract

In this paper optimal deployment of a network of mobile agents with different maximum traveling speed is considered, where the agents are constrained to move on a circle. The goal is to drive the multi-agent network to final configurations such that the shortest arrival time from the mobile agents to any point on the circle is minimized. A necessary and sufficient condition for optimal network configuration is firstly given. Then, distributed control laws are developed to drive the mobile agents to the optimal configuration. Finally, the results are extended to the case of mobile agents with identical maximum speed. A simulation example is also provided to illustrate the effectiveness of the proposed algorithm.

Keywords

distributed control; mobile agents; mobile robots; multi-agent systems; multi-robot systems; network theory (graphs); optimal control; path planning; distributed control laws; multiagent network; necessary and sufficient condition; optimal heterogeneous mobile agent network deployment; optimal network configuration; Decentralized control; Mobile agents; Multi-agent systems; Robot kinematics; Robot sensing systems; Deployment; Distributed control; Multi-agent systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (CCC), 2014 33rd Chinese

Conference_Location

Nanjing

Type

conf

DOI

10.1109/ChiCC.2014.6896793

Filename

6896793