Title :
Decentralized sweep algorithm of multi-agent systems with adaptive workload assignment
Author :
Zhai, Chao ; Hong, Yiguang
Author_Institution :
Key Lab. of Syst. & Control, Acad. of Math. & Syst. Sci., Beijing, China
Abstract :
This paper discusses decentralized sweep coverage of a given region with parametric uncertainties by multiple agents. With parametric uncertainty in the environment, we present an adaptive sweep coverage algorithm to guarantee the region coverage by sweeping and workload partition. The adaptive technique with persistence condition is employed to sweep an unbounded region, and the upper bound for the extra time spent due to the environmental uncertainty is estimated for the covered region.
Keywords :
adaptive systems; multi-agent systems; multivariable systems; uncertain systems; adaptive sweep coverage algorithm; adaptive workload assignment; decentralized sweep algorithm; decentralized sweep coverage; environmental uncertainty; multiagent systems; parametric uncertainty; upper bound; workload partition; Multi-agent systems; adaptive control; parametric uncertainties; sweep coverage;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2012 10th World Congress on
Conference_Location :
Beijing
Print_ISBN :
978-1-4673-1397-1
DOI :
10.1109/WCICA.2012.6359206
