Volume 11, Number 4, October 2005
|Page(s)||691 - 719|
|Published online||15 September 2005|
Spatially-distributed coverage optimization and control with limited-range interactions
Department of Applied Mathematics and
Statistics, Baskin School of Engineering, University of California,
Santa Cruz, 1156 High Street, Santa Cruz, California, 95064, USA;
2 Department of Mechanical and Environmental Engineering, University of California, Santa Barbara, Engineering Building II, Santa Barbara, California, 93106, USA; firstname.lastname@example.org; email@example.com
Revised: 18 November 2004
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.
Mathematics Subject Classification: 37N35 / 49J52 / 68W15 / 93D20
Key words: Distributed dynamical systems / coordination and cooperative control / geometric optimization / nonsmooth analysis / Voronoi partitions.
© EDP Sciences, SMAI, 2005
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