Collision free coverage control with multiple agents

Dusan M Stipanovic, Claire J. Tomlin, Christopher Valicka

Research output: Chapter in Book/Report/Conference proceedingChapter


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 languageEnglish (US)
Title of host publicationRobot Motion and Control 2011
EditorsKrzysztof R. Kozlowski
Number of pages14
StatePublished - Feb 1 2012

Publication series

NameLecture Notes in Control and Information Sciences
ISSN (Print)0170-8643

ASJC Scopus subject areas

  • Library and Information Sciences


Dive into the research topics of 'Collision free coverage control with multiple agents'. Together they form a unique fingerprint.

Cite this