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 or communication radius. Based on the geometry of Voronoi partitions and proximity graphs, we analyze a class of aggregate objective functions and propose coverage algorithms in continuous and discrete time. These algorithms have convergence guarantees and are spatially distributed with respect to appropriate proximity graphs. Numerical simulations illustrate the results.
Mots clés : distributed dynamical systems, coordination and cooperative control, geometric optimization, nonsmooth analysis, Voronoi partitions
@article{COCV_2005__11_4_691_0,
author = {Cort\'es, Jorge and Mart{\'\i}nez, Sonia and Bullo, Francesco},
title = {Spatially-distributed coverage optimization and control with limited-range interactions},
journal = {ESAIM: Control, Optimisation and Calculus of Variations},
pages = {691--719},
publisher = {EDP-Sciences},
volume = {11},
number = {4},
year = {2005},
doi = {10.1051/cocv:2005024},
mrnumber = {2167880},
zbl = {1080.90070},
language = {en},
url = {http://www.numdam.org/articles/10.1051/cocv:2005024/}
}
TY - JOUR AU - Cortés, Jorge AU - Martínez, Sonia AU - Bullo, Francesco TI - Spatially-distributed coverage optimization and control with limited-range interactions JO - ESAIM: Control, Optimisation and Calculus of Variations PY - 2005 SP - 691 EP - 719 VL - 11 IS - 4 PB - EDP-Sciences UR - http://www.numdam.org/articles/10.1051/cocv:2005024/ DO - 10.1051/cocv:2005024 LA - en ID - COCV_2005__11_4_691_0 ER -
%0 Journal Article %A Cortés, Jorge %A Martínez, Sonia %A Bullo, Francesco %T Spatially-distributed coverage optimization and control with limited-range interactions %J ESAIM: Control, Optimisation and Calculus of Variations %D 2005 %P 691-719 %V 11 %N 4 %I EDP-Sciences %U http://www.numdam.org/articles/10.1051/cocv:2005024/ %R 10.1051/cocv:2005024 %G en %F COCV_2005__11_4_691_0
Cortés, Jorge; Martínez, Sonia; Bullo, Francesco. Spatially-distributed coverage optimization and control with limited-range interactions. ESAIM: Control, Optimisation and Calculus of Variations, Tome 11 (2005) no. 4, pp. 691-719. doi : 10.1051/cocv:2005024. http://www.numdam.org/articles/10.1051/cocv:2005024/
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