Spatially-distributed coverage optimization and control with limited-range interactions

被引：303

作者：

Cortés, J

Martínez, S

Bullo, F

机构：

[1] Univ Calif Santa Cruz, Baskin Sch Engn, Dept Appl Math & Stat, Santa Cruz, CA 95064 USA

[2] Univ Calif Santa Barbara, Dept Mech & Environm Engn, Santa Barbara, CA 93106 USA

来源：

ESAIM-CONTROL OPTIMISATION AND CALCULUS OF VARIATIONS | 2005年 / 11卷 / 04期

关键词：

distributed dynamical systems; coordination and cooperative control; geometric optimization; nonsmooth analysis; Voronoi paritions;

D O I：

10.1051/cocv:2005024

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents coordination algorithms for groups of mobile agents performing deployment and coverage tasks. As an important modeling constraint, we assume that each mobile agent has a limited sensing or communication radius. Based on the geometry of Voronoi partitions and proximity graphs, we analyze a class of aggregate objective functions and propose coverage algorithms in continuous and discrete time. These algorithms have convergence guarantees and are spatially distributed with respect to appropriate proximity graphs. Numerical simulations illustrate the results.

引用

页码：691 / 719

页数：29

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