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Spatially-distributed coverage optimization and control with limited-range interactions (2005)
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| Venue: | ESAIM Control, Optimisation Calculus Variations |
| Citations: | 96 - 28 self |
BibTeX
@ARTICLE{Cortés05spatially-distributedcoverage,
author = {Jorge Cortés and Sonia Martínez and Francesco Bullo},
title = {Spatially-distributed coverage optimization and control with limited-range interactions},
journal = {ESAIM Control, Optimisation Calculus Variations},
year = {2005},
pages = {691--719}
}
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Abstract
Abstract. 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/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.
Keyphrases
limited-range interaction spatially-distributed coverage optimization proximity graph mobile agent numerical simulation voronoi partition convergence guarantee limited sensing communication radius coverage task aggregate objective function propose coverage algorithm coordination algorithm important modeling constraint discrete time
