Distributed Persistent Awareness-Based Area Coverage Control by Mobile Robots

被引：0

作者：

Rodriguez-Seda, Erick J. ^{[1
]}

Washington, Chelsey ^{[1
]}

Sofge, Donald ^{[2
]}

Roth, Aaron ^{[2
]}

Prasad, Chinthan ^{[2
]}

机构：

[1] US Naval Acad, Annapolis, MD 21402 USA

[2] US Naval Res Lab, Washington, DC 20375 USA

来源：

EXPERIMENTAL ROBOTICS, ISER 2023 | 2024年 / 30卷

关键词：

Coverage control; Sensor networks; Multi-agent systems;

D O I：

10.1007/978-3-031-63596-0_9

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a distributed, cooperative persistent coverage control for multi-robotic systems with limited communication and limited sensing range. The control framework synthesizes computational geometry-based algorithms with an awareness-based model to incentivize the frequent coverage of every point of interest in a large-scale domain. Theoretical results on the stability and convergence of awareness are given. The performance of the control approach is demonstrated via an experiment with a hexapod in a simulated cooperative environment.

引用

页码：96 / 104

页数：9

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