Abstract
In this paper we consider a problem of sensing a given area with a group of mobile agents equipped with appropriate sensors. The goal of the agents is to satisfy multiple objectives where one of the objectives is to sense or cover the area, the other one is to avoid collisions with the other vehicles as well as with the static obstacles, and finally to stay close enough during the operation time so that the wireless communication between the agents would be kept reliable. The mathematical formulation of the problem is done by first designing nonnegative functions or functionals which correspond to the objectives and then by constructing control laws based on the objective functions/functionals. To illustrate the procedure we provide an example with three agents with nonhomogeneous sensing capabilities and two obstacles.
| Original language | English (US) |
|---|---|
| Title of host publication | Robot Motion and Control 2011 |
| Editors | Krzysztof R. Kozlowski |
| Pages | 259-272 |
| Number of pages | 14 |
| DOIs | |
| State | Published - Feb 1 2012 |
Publication series
| Name | Lecture Notes in Control and Information Sciences |
|---|---|
| Volume | 422 |
| ISSN (Print) | 0170-8643 |
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ASJC Scopus subject areas
- Library and Information Sciences
Cite this
Collision free coverage control with multiple agents. / Stipanovic, Dusan M; Tomlin, Claire J.; Valicka, Christopher.
Robot Motion and Control 2011. ed. / Krzysztof R. Kozlowski. 2012. p. 259-272 (Lecture Notes in Control and Information Sciences; Vol. 422).Research output: Chapter in Book/Report/Conference proceeding › Chapter
}
TY - CHAP
T1 - Collision free coverage control with multiple agents
AU - Stipanovic, Dusan M
AU - Tomlin, Claire J.
AU - Valicka, Christopher
PY - 2012/2/1
Y1 - 2012/2/1
N2 - In this paper we consider a problem of sensing a given area with a group of mobile agents equipped with appropriate sensors. The goal of the agents is to satisfy multiple objectives where one of the objectives is to sense or cover the area, the other one is to avoid collisions with the other vehicles as well as with the static obstacles, and finally to stay close enough during the operation time so that the wireless communication between the agents would be kept reliable. The mathematical formulation of the problem is done by first designing nonnegative functions or functionals which correspond to the objectives and then by constructing control laws based on the objective functions/functionals. To illustrate the procedure we provide an example with three agents with nonhomogeneous sensing capabilities and two obstacles.
AB - In this paper we consider a problem of sensing a given area with a group of mobile agents equipped with appropriate sensors. The goal of the agents is to satisfy multiple objectives where one of the objectives is to sense or cover the area, the other one is to avoid collisions with the other vehicles as well as with the static obstacles, and finally to stay close enough during the operation time so that the wireless communication between the agents would be kept reliable. The mathematical formulation of the problem is done by first designing nonnegative functions or functionals which correspond to the objectives and then by constructing control laws based on the objective functions/functionals. To illustrate the procedure we provide an example with three agents with nonhomogeneous sensing capabilities and two obstacles.
UR - http://www.scopus.com/inward/record.url?scp=84856272108&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84856272108&partnerID=8YFLogxK
U2 - 10.1007/978-1-4471-2343-9_22
DO - 10.1007/978-1-4471-2343-9_22
M3 - Chapter
AN - SCOPUS:84856272108
SN - 9781447123422
T3 - Lecture Notes in Control and Information Sciences
SP - 259
EP - 272
BT - Robot Motion and Control 2011
A2 - Kozlowski, Krzysztof R.
ER -