Decentralized Ergodic Control: Distribution-Driven Sensing and Exploration for Multiagent Systems

被引：28

作者：

Abraham, Ian ^{[1
]}

Murphey, Todd D. ^{[1
]}

机构：

[1] Northwestern Univ, Dept Mech Engn, Neurosci & Robot Lab NxR, Evanston, IL 60208 USA

来源：

IEEE ROBOTICS AND AUTOMATION LETTERS | 2018年 / 3卷 / 04期

基金：

美国国家科学基金会;

关键词：

Distributed robot systems; reactive and sensor-based planning; sensor-based control; COVERAGE CONTROL; TARGET LOCALIZATION; AREA COVERAGE; OPTIMIZATION;

D O I：

10.1109/LRA.2018.2849588

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

We present a decentralized ergodic control policy for time-varying area coverage problems for multiple agents with nonlinear dynamics. Ergodic control allows us to specify distributions as objectives for area coverage problems for nonlinear robotic systems as a closed-form controller. We derive a variation to the ergodic control policy that can be used with consensus to enable a fully decentralized multiagent control policy. Examples are presented to illustrate the applicability of our method for multiagent terrain mapping as well as target localization. An analysis on ergodic policies as a Nash equilibrium is provided for game theoretic applications.

引用

页码：2987 / 2994

页数：8

共 36 条

[1] Ergodic Exploration Using Binary Sensing for Nonparametric Shape Estimation [J].