Safe and reliable coverage control

Dušan M. Stipanović, Christopher Valicka, Claire J. Tomlin, Thomas R. Bewley

Research output: Contribution to journalArticlepeer-review


In this paper we consider a problem of designing control laws for multiple mobile agents trying to accomplish three objectives. One of the objectives is to sense a given compact domain while satisfying the other objective which is to avoid collisions between the agents themselves as well as with the obstacles. To keep the communication links between the agents reliable, the agents need to stay relatively close during the sensing operation which is the third and final objective. The design of control laws is based on carefully constructed objective functions and on an assumption that the agents' dynamic models are nonlinear yet affine in control laws. As an illustration of some performance characteristics of the proposed control laws, a numerical example is provided.

Original languageEnglish (US)
Pages (from-to)31-48
Number of pages18
JournalNumerical Algebra, Control and Optimization
Issue number1
StatePublished - Jan 2013


  • Avoidance control
  • Coverage control
  • Multiple objectives
  • Proximity control

ASJC Scopus subject areas

  • Algebra and Number Theory
  • Control and Optimization
  • Applied Mathematics


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