Related papers: Distributed Optimal Coverage Control in Multi-agen…
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…
We propose a distributed control algorithm for a multi-agent network whose agents deploy over a cluttered region in accordance with a time-varying coverage density function while avoiding collisions with all obstacles they encounter. Our…
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…
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…
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,…
Coverage control algorithms have traditionally focused on static target densities, where agents are deployed to optimally cover a fixed spatial distribution. However, many applications involve time-varying densities, including environmental…
This paper focuses on the optimal coverage problem (OCP) for multi-agent systems with a decentralized optimization mechanism. A game based distributed decision-making method for the multi-agent OCP is proposed to address the high…
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…
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 fundamental problem of non-uniform area coverage in multi-agent systems, where different regions require varying levels of attention due to mission-dependent priorities. Existing uniform coverage strategies are…
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…
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…
In this paper, an efficient deployment strategy is proposed for a network of mobile and static sensors with nonidentical sensing and communication radii. The multiplicatively weighted Voronoi (MW-Voronoi) diagram is used to partition the…
In this paper we propose search strategies for heterogeneous multi-agent systems. Multiple agents, equipped with communication gadget, computational capability, and sensors having heterogeneous capabilities, are deployed in the search space…
In this paper, a novel distributed optimization framework has been proposed. The key idea is to convert optimization problems into optimal control problems where the objective of each agent is to design the current control input minimizing…
This paper deals with solving distributed optimization problems with equality constraints by a class of uncertain nonlinear heterogeneous dynamic multi-agent systems. It is assumed that each agent with an uncertain dynamic model has limited…
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…
In this paper a generalization of the Voronoi partition is used for optimal deployment of autonomous agents carrying sensors with heterogeneous capabilities, to maximize the sensor coverage. The generalized centroidal Voronoi configuration,…
This paper presents a distributed continuous-time optimization framework aimed at overcoming the challenges posed by time-varying cost functions and constraints in multi-agent systems, particularly those subject to disturbances. By…
This paper presents a distributed multi-layer ring barrier coverage algorithm. In order to achieve single-layer ring barrier coverage, a distributed single-layer ring barrier coverage algorithm that maximises the probability of monitoring…