Sweep coverage algorithm and coverage time estimation for multi-agent systems

This paper addresses sweep coverage problem of multi-agent systems in the uncertain environment. With different communication interconnections, we present decentralized sweep coverage algorithms to guarantee the complete coverage of the given region by sweeping in parallel with workload partition. Moreover, the estimation of coverage time in different communication cases is related to the corresponding convergent rates on the basis of the interconnection graphs. Additionally, we give a counter-example to show that more inter-agent communication links may yield slower the convergent rate.

[1]  Richard M. Murray,et al.  Consensus problems in networks of agents with switching topology and time-delays , 2004, IEEE Transactions on Automatic Control.

[2]  Randal W. Beard,et al.  Distributed Consensus in Multi-vehicle Cooperative Control - Theory and Applications , 2007, Communications and Control Engineering.

[3]  Elias B. Kosmatopoulos,et al.  Adaptive-based distributed cooperative multi-robot coverage , 2011, Proceedings of the 2011 American Control Conference.

[4]  Sonia Martínez,et al.  Coverage control for mobile sensing networks , 2002, IEEE Transactions on Robotics and Automation.

[5]  Chao Zhai,et al.  Decentralized algorithm for online workload partition of multi-agent systems , 2011, Proceedings of the 30th Chinese Control Conference.

[6]  Guodong Shi,et al.  Global target aggregation and state agreement of nonlinear multi-agent systems with switching topologies , 2009, Autom..

[7]  Mac Schwager,et al.  Decentralized, Adaptive Control for Coverage with Networked Robots , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[8]  Qiang Du,et al.  Centroidal Voronoi Tessellations: Applications and Algorithms , 1999, SIAM Rev..

[9]  Mac Schwager,et al.  Decentralized, Adaptive Coverage Control for Networked Robots , 2009, Int. J. Robotics Res..

[10]  Daizhan Cheng,et al.  Advanced Robust and Adaptive Control Theory and Applications , 2010 .

[11]  Chaouki T. Abdallah,et al.  An adaptive coverage control algorithm for deployment of nonholonomic mobile sensors , 2010, 49th IEEE Conference on Decision and Control (CDC).

[12]  Andrey V. Savkin,et al.  A distributed self-deployment algorithm for the coverage of mobile wireless sensor networks , 2009, IEEE Communications Letters.

[13]  Chao Zhai,et al.  Decentralized sweep coverage algorithm for uncertain region of multi-agent systems , 2012, 2012 American Control Conference (ACC).

[14]  Douglas W. Gage,et al.  Development and command-control tools for many-robot systems , 1995, Other Conferences.

[15]  Andrey V. Savkin,et al.  Decentralized coordinated control of a vehicle network for deployment in sweep coverage , 2009, 2009 IEEE International Conference on Control and Automation.

[16]  F. Bullo,et al.  Motion Coordination with Distributed Information , 2007 .

[17]  Charles R. Johnson,et al.  Matrix analysis , 1985, Statistical Inference for Engineers and Data Scientists.

[18]  Gaurav S. Sukhatme,et al.  Experiments with a Large Heterogeneous Mobile Robot Team: Exploration, Mapping, Deployment and Detection , 2006, Int. J. Robotics Res..

[20]  Douglas W. Gage,et al.  Command Control for Many-Robot Systems , 1992 .