# American Institute of Mathematical Sciences

2013, 3(1): 31-48. doi: 10.3934/naco.2013.3.31

## Safe and reliable coverage control

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

Received  December 2011 Revised  November 2012 Published  January 2013

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.
Citation: Dušan M. Stipanović, Christopher Valicka, Claire J. Tomlin, Thomas R. Bewley. Safe and reliable coverage control. Numerical Algebra, Control and Optimization, 2013, 3 (1) : 31-48. doi: 10.3934/naco.2013.3.31
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