Related papers: Distributed Coverage Control of Multi-Agent Networ…
This paper introduces a novel approach to solve the coverage optimization problem in multi-agent systems. The proposed technique offers an optimal solution with a lower cost with respect to conventional Voronoi-based techniques by…
It is always a challenging task to service sudden events in non-convex and uncertain environments, and multi-agent coverage control provides a powerful theoretical framework to investigate the deployment problem of mobile robotic networks…
This paper addresses the coverage control problem of multi-agent systems in the uncertain environment. With the aid of Voronoi partition, a distributed coverage control formulation of multi-agent system is proposed to complete the workload…
Coordinating multiple autonomous agents to reach a target region while avoiding collisions and maintaining communication connectivity is a core problem in multi-agent systems. In practice, agents have a limited communication range. Thus,…
The multi-agent spatial coverage control problem encompasses a broad research domain, dealing with both dynamic and static deployment strategies, discrete-task assignments, and spatial distribution-matching deployment. Coverage control may…
This paper proposes a new architecture for multi-agent systems to cover an unknowingly distributed fast, safely, and decentralizedly. The inter-agent communication is organized by a directed graph with fixed topology, and we model agent…
It is always a challenging task for multi-agent systems to achieve efficient and robust coverage in uncertain environments. The absence of global positioning information on the uncertain environment introduces significant complexity to the…
This paper addresses the sweep coverage problem of multi-agent systems in uncertain regions. A new formulation of distributed sweep coverage is proposed to cooperatively complete the workload in the uncertain region. Specifically, each…
Time-varying coverage control addresses the challenge of coordinating multiple agents covering an environment where regions of interest change over time. This problem has broad applications, including the deployment of autonomous taxis and…
Multi-robot systems have increasingly become instrumental in tackling search and coverage problems. However, the challenge of optimizing task efficiency without compromising task success still persists, particularly in expansive,…
The problem of coverage control, i.e., of coordinating multiple agents to optimally cover an area, arises in various applications. However, coverage applications face two major challenges: (1) dealing with nonlinear dynamics while…
This paper presents a novel coverage control algorithm for multi-agent systems, where each agent has no prior knowledge of the specific region to be covered. The proposed method enables agents to autonomously detect the target area and…
In this paper, we consider a class of workspace partitioning problems that arise in the context of area coverage and spatial load balancing for spatially distributed heterogeneous multi-agent networks. It is assumed that each agent has…
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/communication radius. Based on the…
This paper addresses the problem of navigation control of a general class of 2nd order uncertain nonlinear multi-agent systems in a bounded workspace, which is a subset of $R^3$ , with static obstacles. In particular, we propose a…
This work proposes a coverage controller that enables an aerial team of distributed autonomous agents to collaboratively generate non-myopic coverage plans over a rolling finite horizon, aiming to cover specific points on the surface area…
Multi-agent systems play a central role in area coverage tasks across search-and-rescue, environmental monitoring, and precision agriculture. Achieving non-uniform coverage, where spatial priorities vary across the domain, requires…
This paper proposes a novel distributed coverage controller for a multi-agent system with constant-speed unicycle robots (CSUR). The work is motivated by the limitation of the conventional method that does not ensure the satisfaction of…
This paper considers deployment problems where a mobile robotic network must optimize its configuration in a distributed way in order to minimize a steady-state cost function that depends on the spatial distribution of certain probabilistic…
This article examines the problem of area coverage for a network of mobile robots with imprecise agent localization. Each robot has uniform radial sensing ability, governed by first order kinodynamics. The convex-space is partitioned based…