Swarm-based dynamic coverage control

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

doi:10.1109/CDC.2014.7040483

Swarm-based dynamic coverage control

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

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

In this paper, we study the swarm-based coverage control problem for multi-agent systems where the main objective of a group of mobile agents is to explore a given compact region. We consider a group of coverage agents that move as a swarm in order to explore the given domain. Agents are deployed to uncovered regions via a swarming control scheme where a leader agent selects a target position in an uncovered region while all other agents are commanded to swarm around the leader agent's target position. In addition to the coverage objective, we design control inputs for collision avoidance, obstacle avoidance and proximity maintenance.

Original language	English (US)
Title of host publication	53rd IEEE Conference on Decision and Control,CDC 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	6963-6968
Number of pages	6
Edition	February
ISBN (Electronic)	9781479977468
DOIs	https://doi.org/10.1109/CDC.2014.7040483
State	Published - 2014
Event	2014 53rd IEEE Annual Conference on Decision and Control, CDC 2014 - Los Angeles, United States Duration: Dec 15 2014 → Dec 17 2014

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
Number	February
Volume	2015-February
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Other

Other	2014 53rd IEEE Annual Conference on Decision and Control, CDC 2014
Country/Territory	United States
City	Los Angeles
Period	12/15/14 → 12/17/14

ASJC Scopus subject areas

Control and Systems Engineering
Modeling and Simulation
Control and Optimization

Online availability

10.1109/CDC.2014.7040483

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Atinç, G. M., Stipanović, D. M., Voulgaris, P. G., & Karkoub, M. (2014). Swarm-based dynamic coverage control. In 53rd IEEE Conference on Decision and Control,CDC 2014 (February ed., pp. 6963-6968). Article 7040483 (Proceedings of the IEEE Conference on Decision and Control; Vol. 2015-February, No. February). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2014.7040483

Swarm-based dynamic coverage control. / Atinç, Gökhan M.; Stipanović, Dušan M.; Voulgaris, Petros G. et al.
53rd IEEE Conference on Decision and Control,CDC 2014. February. ed. Institute of Electrical and Electronics Engineers Inc., 2014. p. 6963-6968 7040483 (Proceedings of the IEEE Conference on Decision and Control; Vol. 2015-February, No. February).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Atinç, GM, Stipanović, DM, Voulgaris, PG & Karkoub, M 2014, Swarm-based dynamic coverage control. in 53rd IEEE Conference on Decision and Control,CDC 2014. February edn, 7040483, Proceedings of the IEEE Conference on Decision and Control, no. February, vol. 2015-February, Institute of Electrical and Electronics Engineers Inc., pp. 6963-6968, 2014 53rd IEEE Annual Conference on Decision and Control, CDC 2014, Los Angeles, United States, 12/15/14. https://doi.org/10.1109/CDC.2014.7040483

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Swarm-based dynamic coverage control

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