SAFE AND RELIABLE COVERAGE CONTROL

被引：25
|
作者：
Stipanovic, Dusan M. [1 ]
Valicka, Christopher [1 ]
Tomlin, Claire J. [2 ]
Bewley, Thomas R. [3 ]
机构：
[1] Univ Illinois, Dept Ind & Enterprise Syst Engn, Coordinated Sci Lab, Urbana, IL 60680 USA
[2] Univ Calif Berkeley, Dept Elect Engn & Comp Sci, Berkeley, CA 94720 USA
[3] Univ Calif San Diego, Dept Mech & Aerosp Engn, San Diego, CA 92103 USA
来源：
NUMERICAL ALGEBRA CONTROL AND OPTIMIZATION | 2013年 / 3卷 / 01期
基金：
美国国家科学基金会;
关键词：
Avoidance control; coverage control; proximity control; multiple objectives;
D O I：
10.3934/naco.2013.3.31
中图分类号：
O29 [应用数学];
学科分类号：
070104 ;
摘要：
In this paper we consider a problem of designing control laws for multiple mobile agents trying to accomplish three objectives. One of the objectives is to sense a given compact domain while satisfying the other objective which is to avoid collisions between the agents themselves as well as with the obstacles. To keep the communication links between the agents reliable, the agents need to stay relatively close during the sensing operation which is the third and final objective. The design of control laws is based on carefully constructed objective functions and on an assumption that the agents' dynamic models are nonlinear yet affine in control laws. As an illustration of some performance characteristics of the proposed control laws, a numerical example is provided.
引用
收藏
页码：31 / 48
页数：18
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