Multiagent cooperative coverage control
Abstract: In this work, the problem of deploying a team of mobile sensing agents to provide coverage of an environment is addressed. We propose a novel distributed algorithm to generate a sequence of waypoints for each agent, based on intermittent communication between the agents. The algorithm is shown to converge to an equilibrium conﬁguration, while a measure of the environment coverage is shown to be monotonically nondecreasing. To fulﬁll the task of moving the agents to the designated waypoints, we develop a non-linear control algorithm based on backstepping, as well as a path planning strategy that uses potential ﬁeld navigation and collision avoidance. All the proposed algorithms are tested in a simulated environment and on real-world aerial robots.
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