Abstract
In this paper, we propose a swarm-based dynamic coverage scheme where we consider groups of coverage agents that behave as swarms for completing the coverage task. Agents are deployed to uncovered regions via swarming control where a leader agent selects a target position that is in an uncovered region while all other agents are commanded to swarm around the leader agent's target position. Coverage and swarming control inputs are decoupled, meaning that only one of them is active at a given time. Through the decoupling of these control inputs, we attain simpler control problems that we analyze separately for different behavior modes and provide stability results for the overall control schemes through Lyapunov-like analysis for two different cases: swarms of kinematic unicycle agents and multiple swarms of single-integrator agents. In addition to the coverage objective, we design control inputs for collision and static obstacle avoidance and proximity maintenance.
| Original language | English (US) |
|---|---|
| Article number | 108637 |
| Journal | Automatica |
| Volume | 112 |
| DOIs | |
| State | Published - Feb 2020 |
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Keywords
- Collision avoidance
- Cooperative control
- Coverage control
- Multi-agent systems
- Swarm control
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering
Cite this
A swarm-based approach to dynamic coverage control of multi-agent systems. / Atınç, Gökhan M.; Stipanović, Dušan M.; Voulgaris, Petros G.
In: Automatica, Vol. 112, 108637, 02.2020.Research output: Contribution to journal › Article
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TY - JOUR
T1 - A swarm-based approach to dynamic coverage control of multi-agent systems
AU - Atınç, Gökhan M.
AU - Stipanović, Dušan M.
AU - Voulgaris, Petros G.
PY - 2020/2
Y1 - 2020/2
N2 - In this paper, we propose a swarm-based dynamic coverage scheme where we consider groups of coverage agents that behave as swarms for completing the coverage task. Agents are deployed to uncovered regions via swarming control where a leader agent selects a target position that is in an uncovered region while all other agents are commanded to swarm around the leader agent's target position. Coverage and swarming control inputs are decoupled, meaning that only one of them is active at a given time. Through the decoupling of these control inputs, we attain simpler control problems that we analyze separately for different behavior modes and provide stability results for the overall control schemes through Lyapunov-like analysis for two different cases: swarms of kinematic unicycle agents and multiple swarms of single-integrator agents. In addition to the coverage objective, we design control inputs for collision and static obstacle avoidance and proximity maintenance.
AB - In this paper, we propose a swarm-based dynamic coverage scheme where we consider groups of coverage agents that behave as swarms for completing the coverage task. Agents are deployed to uncovered regions via swarming control where a leader agent selects a target position that is in an uncovered region while all other agents are commanded to swarm around the leader agent's target position. Coverage and swarming control inputs are decoupled, meaning that only one of them is active at a given time. Through the decoupling of these control inputs, we attain simpler control problems that we analyze separately for different behavior modes and provide stability results for the overall control schemes through Lyapunov-like analysis for two different cases: swarms of kinematic unicycle agents and multiple swarms of single-integrator agents. In addition to the coverage objective, we design control inputs for collision and static obstacle avoidance and proximity maintenance.
KW - Collision avoidance
KW - Cooperative control
KW - Coverage control
KW - Multi-agent systems
KW - Swarm control
UR - http://www.scopus.com/inward/record.url?scp=85074174642&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85074174642&partnerID=8YFLogxK
U2 - 10.1016/j.automatica.2019.108637
DO - 10.1016/j.automatica.2019.108637
M3 - Article
AN - SCOPUS:85074174642
VL - 112
JO - Automatica
JF - Automatica
SN - 0005-1098
M1 - 108637
ER -