Related papers: Rolling Horizon Coverage Control with Collaborativ…
A decomposition-based coverage control scheme is proposed for multi-agent, persistent surveillance missions operating in a communication-constrained, dynamic environment. The proposed approach decouples high-level task assignment from…
We address the multi-agent persistent monitoring problem defined on a set of nodes (targets) interconnected over a network topology. A measure of mean overall node state uncertainty evaluated over a finite period is to be minimized by…
In this paper, we propose a novel semi-autonomous image sampling strategy, called stealthy coverage control, for human-enabled 3D structure reconstruction. The present mission involves a fundamental problem: while the number of images…
This paper presents a novel control strategy for drone networks to improve the quality of 3D structures reconstructed from aerial images by drones. Unlike the existing coverage control strategies for this purpose, our proposed approach…
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…
Multi-agent coverage control is used as a mechanism to influence the behavior of a group of robots by introducing time-varying domain. The coverage optimization problem is modified to adopt time-varying domains, and the proposed control law…
We propose a distributed model predictive control (MPC) framework for coordinating heterogeneous, nonlinear multi-agent systems under individual and coupling constraints. The cooperative task is encoded as a shared objective function…
Coverage control has been widely used for constructing mobile sensor network such as for environmental monitoring, and one of the most commonly used methods is the Lloyd algorithm based on Voronoi partitions. However, when this method is…
Unmanned Aerial Vehicles (UAVs) are now becoming increasingly accessible to amateur and com-mercial users alike. Several types of airspace structures are proposed in recent research, which include several structured free flight concepts. In…
Fault-tolerant coverage control involves determining a trajectory that enables an autonomous agent to cover specific points of interest, even in the presence of actuation and/or sensing faults. In this work, the agent encounters control…
This paper proposes a distributed controller synthesis framework for safe navigation of multi-agent systems. We leverage control barrier functions to formulate collision avoidance with obstacles and teammates as constraints on the control…
This article presents a distributed algorithm for a group of robotic agents with omnidirectional vision to deploy into nonconvex polygonal environments with holes. Agents begin deployment from a common point, possess no prior knowledge of…
Unmanned Aerial Vehicles equipped with cameras can be used to automate image capture for generating 3D models via photogrammetry. Current methods rely on a single vehicle to capture images sequentially, or use pre-planned and heuristic…
In this work, it is presented the development of a novel distributed algorithm performing robotic coverage, clustering and dispatch around an event in static-obstacle structured environments without relying on metric information.…
Motivated by the prospect of nano-robots that assist human physiological functions at the nanoscale, we investigate the coating problem in the three-dimensional model for hybrid programmable matter. In this model, a single agent with…
In this paper we propose a periodic solution to the problem of persistently covering a finite set of interest points with a group of autonomous mobile agents. These agents visit periodically the points and spend some time carrying out the…
This letter studies a distributed collision avoidance control problem for a group of rigid bodies on a sphere. A rigid body network, consisting of multiple rigid bodies constrained to a spherical surface and an interconnection topology, is…
Real-time environmental monitoring using a multi-agent system (MAS) has long been a focal point of cooperative control. It is still a challenging task to provide cost-effective services for potential emergencies in surface environments.…
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…
Motion planning in environments with multiple agents is critical to many important autonomous applications such as autonomous vehicles and assistive robots. This paper considers the problem of motion planning, where the controlled agent…