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
收藏
页码：96 / 104
页数：9
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