Collision free coverage control with multiple agents

Dusan M Stipanovic, Claire J. Tomlin, Christopher Valicka

Research output: Chapter in Book/Report/Conference proceedingChapter

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 languageEnglish (US)
Title of host publicationRobot Motion and Control 2011
EditorsKrzysztof R. Kozlowski
Pages259-272
Number of pages14
DOIs
StatePublished - Feb 1 2012

Publication series

NameLecture Notes in Control and Information Sciences
Volume422
ISSN (Print)0170-8643

ASJC Scopus subject areas

  • Library and Information Sciences

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  • Cite this

    Stipanovic, D. M., Tomlin, C. J., & Valicka, C. (2012). Collision free coverage control with multiple agents. In K. R. Kozlowski (Ed.), Robot Motion and Control 2011 (pp. 259-272). (Lecture Notes in Control and Information Sciences; Vol. 422). https://doi.org/10.1007/978-1-4471-2343-9_22