@article{1cfe79693a7441259d5210a84ee356be,
title = "Supervised coverage control of multi-agent systems",
abstract = "In this paper, we consider a dynamic coverage problem for multi-agent systems, where the main objective of a group of mobile agents is to explore a given compact region. We propose a novel control scheme, where we introduce a supervisor that assists a group of agents with the centralized coverage control law and the global trajectory tracking control law. The coverage control law ensures the coverage task is done until the agents end up in local minima, and when they do, the global trajectory tracking control law ensures that the agents are deployed to uncovered regions. Our control scheme is designed to be decoupled such that only one control law is active at a given time. In addition to the coverage objective, we design control laws for coverage agents to avoid collisions and maintain proximity to a supervisor. Moreover, we utilize feedback linearization to use the proposed control scheme for coverage control of kinematic unicycle agents. We validate our approach via numerical simulations.",
keywords = "Autonomous mobile robots, Collision avoidance, Cooperative control, Coverage control, Multi-agent systems",
author = "Atin{\c c}, {G{\"o}khan M.} and Stipanovi{\'c}, {Du{\v s}an M.} and Voulgaris, {Petros G.}",
note = "Petros G. Voulgaris received the Diploma in Mechanical Engineering from the National Technical University, Athens, Greece, in 1986, and the S.M. and Ph.D. degrees in Aeronautics and Astronautics from the Massachusetts Institute of Technology, Cambridge, in 1988 and 1991, respectively. Since August 1991, he has been with the Department of Aerospace Engineering, University of Illinois at Urbana Champaign, where he is currently a Professor. He also holds joint appointments with the Coordinated Science Laboratory, and the department of Electrical and Computer Engineering at the same university. His research interests include robust and optimal control and estimation, communications and control, networks and control, and applications of advanced control methods to engineering practice including flight control, nano-scale control, robotics, and structural control systems. Dr. Voulgaris is a recipient of the National Science Foundation Research Initiation Award (1993), the Office of Naval Research Young Investigator Award (1995) and the UIUC Xerox Award for research. He has been an Associate Editor for the IEEE Transactions on Automatic Control and the ASME Journal of Dynamic Systems, Measurement and Control. He is also a Fellow of IEEE.",
year = "2014",
month = nov,
day = "1",
doi = "10.1016/j.automatica.2014.10.023",
language = "English (US)",
volume = "50",
pages = "2936--2942",
journal = "Automatica",
issn = "0005-1098",
publisher = "Elsevier Ltd",
number = "11",
}