Supervised coverage control with guaranteed collision avoidance and proximity maintenance

Gökhan M. Atinç, Dušan M. Stipanović, Petros G. Voulgaris, Mansour Karkoub

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publication2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3463-3468
Number of pages6
ISBN (Print)9781467357173
DOIs
StatePublished - Jan 1 2013
Event52nd IEEE Conference on Decision and Control, CDC 2013 - Florence, Italy
Duration: Dec 10 2013Dec 13 2013

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0191-2216

Other

Other52nd IEEE Conference on Decision and Control, CDC 2013
CountryItaly
CityFlorence
Period12/10/1312/13/13

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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  • Cite this

    Atinç, G. M., Stipanović, D. M., Voulgaris, P. G., & Karkoub, M. (2013). Supervised coverage control with guaranteed collision avoidance and proximity maintenance. In 2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013 (pp. 3463-3468). [6760414] (Proceedings of the IEEE Conference on Decision and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2013.6760414