Decentralized Coverage Control for Multi-Agent Systems with Nonlinear Dynamics

Alireza DIRAFZOON; Mohammad Bagher MENHAJ; Ahmad AFSHAR

doi:10.1587/transinf.E94.D.3

Decentralized Coverage Control for Multi-Agent Systems with Nonlinear Dynamics

Alireza DIRAFZOON, Mohammad Bagher MENHAJ, Ahmad AFSHAR

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In this paper, we study the decentralized coverage control problem for an environment using a group of autonomous mobile robots with nonholonomic kinematic and dynamic constraints. In comparison with standard coverage control procedures, we develop a combined controller for Voronoi-based coverage approach in which kinematic and dynamic constraints of the actual mobile sensing robots are incorporated into the controller design. Furthermore, a collision avoidance component is added in the kinematic controller in order to guarantee a collision free coverage of the area. The convergence of the network to the optimal sensing configuration is proven with a Lyapunov-type analysis. Numerical simulations are provided approving the effectiveness of the proposed method through several experimental scenarios.

Publication: IEICE TRANSACTIONS on Information Vol.E94-D No.1 pp.3-10

Publication Date: 2011/01/01

Publicized

Online ISSN: 1745-1361

DOI: 10.1587/transinf.E94.D.3

Type of Manuscript: Special Section PAPER (IEICE/IEEE Joint Special Section on Autonomous Decentralized Systems Technologies and Their Application to Networked Systems)

Category: Community

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Alireza DIRAFZOON, Mohammad Bagher MENHAJ, Ahmad AFSHAR, "Decentralized Coverage Control for Multi-Agent Systems with Nonlinear Dynamics" in IEICE TRANSACTIONS on Information, vol. E94-D, no. 1, pp. 3-10, January 2011, doi: 10.1587/transinf.E94.D.3.
Abstract: In this paper, we study the decentralized coverage control problem for an environment using a group of autonomous mobile robots with nonholonomic kinematic and dynamic constraints. In comparison with standard coverage control procedures, we develop a combined controller for Voronoi-based coverage approach in which kinematic and dynamic constraints of the actual mobile sensing robots are incorporated into the controller design. Furthermore, a collision avoidance component is added in the kinematic controller in order to guarantee a collision free coverage of the area. The convergence of the network to the optimal sensing configuration is proven with a Lyapunov-type analysis. Numerical simulations are provided approving the effectiveness of the proposed method through several experimental scenarios.
URL: https://global.ieice.org/en_transactions/information/10.1587/transinf.E94.D.3/_p

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@ARTICLE{e94-d_1_3,
author={Alireza DIRAFZOON, Mohammad Bagher MENHAJ, Ahmad AFSHAR, },
journal={IEICE TRANSACTIONS on Information},
title={Decentralized Coverage Control for Multi-Agent Systems with Nonlinear Dynamics},
year={2011},
volume={E94-D},
number={1},
pages={3-10},
abstract={In this paper, we study the decentralized coverage control problem for an environment using a group of autonomous mobile robots with nonholonomic kinematic and dynamic constraints. In comparison with standard coverage control procedures, we develop a combined controller for Voronoi-based coverage approach in which kinematic and dynamic constraints of the actual mobile sensing robots are incorporated into the controller design. Furthermore, a collision avoidance component is added in the kinematic controller in order to guarantee a collision free coverage of the area. The convergence of the network to the optimal sensing configuration is proven with a Lyapunov-type analysis. Numerical simulations are provided approving the effectiveness of the proposed method through several experimental scenarios.},
keywords={},
doi={10.1587/transinf.E94.D.3},
ISSN={1745-1361},
month={January},}

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TY - JOUR
TI - Decentralized Coverage Control for Multi-Agent Systems with Nonlinear Dynamics
T2 - IEICE TRANSACTIONS on Information
SP - 3
EP - 10
AU - Alireza DIRAFZOON
AU - Mohammad Bagher MENHAJ
AU - Ahmad AFSHAR
PY - 2011
DO - 10.1587/transinf.E94.D.3
JO - IEICE TRANSACTIONS on Information
SN - 1745-1361
VL - E94-D
IS - 1
JA - IEICE TRANSACTIONS on Information
Y1 - January 2011
AB - In this paper, we study the decentralized coverage control problem for an environment using a group of autonomous mobile robots with nonholonomic kinematic and dynamic constraints. In comparison with standard coverage control procedures, we develop a combined controller for Voronoi-based coverage approach in which kinematic and dynamic constraints of the actual mobile sensing robots are incorporated into the controller design. Furthermore, a collision avoidance component is added in the kinematic controller in order to guarantee a collision free coverage of the area. The convergence of the network to the optimal sensing configuration is proven with a Lyapunov-type analysis. Numerical simulations are provided approving the effectiveness of the proposed method through several experimental scenarios.
ER -