Safe and reliable coverage control

Dušan M. Stipanović; Christopher Valicka; Claire J. Tomlin; Thomas R. Bewley

doi:10.3934/naco.2013.3.31

Article Contents

2013, Volume 3, Issue 1: 31-48. Doi: 10.3934/naco.2013.3.31

This issue Previous Article Jamming in mobile networks: A game-theoretic approach Next Article Characterization of damped linear dynamical systems in free motion

Safe and reliable coverage control

1.
Coordinated Science Laboratory, Department of Industrial and Enterprise Systems Engineering, University of Illinois at Urbana-Champaign, Urbana, Illinois
2.
Department of Electrical Engineering and Computer Science, University of California at Berkeley, Berkeley, California
3.
Department of Mechanical and Aerospace Engineering, University of California at San Diego, La Jolla, California

Received: December 2011

Revised: November 2012

Published: December 2012

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Abstract

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.

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Mathematics Subject Classification: Primary: 93C10, 93D15; Secondary: 93C85, 93D30.

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