TY - GEN
T1 - Supervised coverage control with guaranteed collision avoidance and proximity maintenance
AU - Atinç, Gökhan M.
AU - Stipanović, Dušan M.
AU - Voulgaris, Petros G.
AU - Karkoub, Mansour
PY - 2013
Y1 - 2013
N2 - In this paper, we study the dynamic coverage problem for multi-agent systems. Qualitatively, the coverage goal can be described as gathering sensory information for each point in a given region up to a desired prescribed level. In order to achieve the coverage goal, we propose a novel control scheme, where we introduce a supervisor that assists a group of coverage agents with i) coverage control law and ii) 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 such that the two control laws are decoupled, meaning that only one of them is active at a given time. In addition to the coverage objective, we design control laws in order to guarantee that there are no collisions between the agents and they always operate sufficiently close to the supervisor.
AB - In this paper, we study the dynamic coverage problem for multi-agent systems. Qualitatively, the coverage goal can be described as gathering sensory information for each point in a given region up to a desired prescribed level. In order to achieve the coverage goal, we propose a novel control scheme, where we introduce a supervisor that assists a group of coverage agents with i) coverage control law and ii) 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 such that the two control laws are decoupled, meaning that only one of them is active at a given time. In addition to the coverage objective, we design control laws in order to guarantee that there are no collisions between the agents and they always operate sufficiently close to the supervisor.
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U2 - 10.1109/CDC.2013.6760414
DO - 10.1109/CDC.2013.6760414
M3 - Conference contribution
AN - SCOPUS:84902352178
SN - 9781467357173
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 3463
EP - 3468
BT - 2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 52nd IEEE Conference on Decision and Control, CDC 2013
Y2 - 10 December 2013 through 13 December 2013
ER -