DocumentCode :
1604835
Title :
Space coverage control for distributed multi-agent systems with preserved connectivity
Author :
Li, Xiaoli ; Xi, Yugeng
Author_Institution :
Dept. of Autom., Shanghai Jiao Tong Univ., Shanghai, China
fYear :
2009
Firstpage :
111
Lastpage :
116
Abstract :
This paper discusses the distributed connected coverage problem for a group of mobile agents in 3-dimensional space and with limited-range interactions. A self-deployment algorithm is proposed, which spreads out the agent group while preserving some special core structures of the time-variant communication topologies. It should be pointed out that the core structure keeps the connectivity of the communication topology and can be preserved without hindering the agents from traversing over the maximal distance from their neighbors; thus distributed coverage can be achieved with preserved connectivity. The resulting performance is demonstrated by both theoretical analysis and numerical simulation.
Keywords :
discrete time systems; distributed control; mobile robots; multi-robot systems; distributed connected coverage problem; distributed multiagent systems; limited-range interactions; mobile agents; preserved connectivity; self-deployment algorithm; space coverage control; Control systems; Distributed control; Mobile agents; Mobile communication; Monitoring; Multiagent systems; Numerical simulation; Performance analysis; Surveillance; Topology;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Asian Control Conference, 2009. ASCC 2009. 7th
Conference_Location :
Hong Kong
Print_ISBN :
978-89-956056-2-2
Electronic_ISBN :
978-89-956056-9-1
Type :
conf
Filename :
5276327
Link To Document :
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