DocumentCode :
3029376
Title :
Near optimal swarm deployment using Descriptor Functions
Author :
Niccolini, Marta ; Innocenti, Mario ; Pollini, Lorenzo
Author_Institution :
Dept. of Electr. Syst. & Autom., Univ. of Pisa, Pisa, Italy
fYear :
2010
fDate :
3-7 May 2010
Firstpage :
4952
Lastpage :
4957
Abstract :
The article describes a novel approach for deployment of a swarm of heterogeneous autonomous vehicles. Each vehicle is treated as the agent of a network, which cooperates in order to cover a given area according to its own capabilities. A general framework is introduced, which aims at providing tools for solving a large class of coordination problems. The capabilities of each agent are modeled with Descriptor Functions; the sum of these functions constitutes the swarm´s descriptor. The goal of the swarm is to match a desired descriptor, by minimizing an appropriate cost functional. A control law is proposed, which is capable of driving the agents towards the achievement of the goal. The existence of local minima and of a global minimum is discussed. Theoretical results on the existence of the global minimum are given. The Area Coverage problem is selected as a preliminary test for the algorithm. Simulation results show the effectiveness of the proposed approach.
Keywords :
mobile robots; multi-agent systems; multi-robot systems; remotely operated vehicles; area coverage problem; control law; coordination problem; cost functional; descriptor functions; global minimum; heterogeneous autonomous vehicle; local minima; multiagent system; near optimal swarm deployment; swarm descriptor; Collision avoidance; Cost function; Mobile robots; Motion control; Remotely operated vehicles; Robotics and automation; Robustness; Testing; USA Councils; Weapons;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation (ICRA), 2010 IEEE International Conference on
Conference_Location :
Anchorage, AK
ISSN :
1050-4729
Print_ISBN :
978-1-4244-5038-1
Electronic_ISBN :
1050-4729
Type :
conf
DOI :
10.1109/ROBOT.2010.5509984
Filename :
5509984
Link To Document :
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