An energy-aware redistribution method for multi-agent dynamic coverage networks.

Abstract

This paper considers dynamic coverage control of unicycle multi-agent systems under power constraints. The agents under consideration implement a visually based patrol protocol. They observe their environment via forward-facing conical anisotropic sensing regions. A local coverage control strategy is presented that allows for the cooperative search of a domain while maintaining collision avoidance guarantees using a novel control method based on the coverage level. Additionally, a novel energy-aware global coverage technique is introduced that restricts the operating range of power-constrained agents while shifting the network redistribution effort onto less constrained agents. The results of several scenarios are presented in simulation to illustrate the efficacy of these algorithms.

Bib

@inproceedings{DBLP:conf/cdc/BentzP16,
  author       = {William Bentz and
                  Dimitra Panagou},
  title        = {An energy-aware redistribution method for multi-agent dynamic coverage
                  networks},
  booktitle    = {55th {IEEE} Conference on Decision and Control, {CDC} 2016, Las Vegas,
                  NV, USA, December 12-14, 2016},
  pages        = {2644--2651},
  publisher    = {{IEEE}},
  year         = {2016},
  url          = {https://doi.org/10.1109/CDC.2016.7798661},
  doi          = {10.1109/CDC.2016.7798661},
  timestamp    = {Fri, 04 Mar 2022 13:29:43 +0100},
  biburl       = {https://dblp.org/rec/conf/cdc/BentzP16.bib},
  bibsource    = {dblp computer science bibliography, https://dblp.org}
}