{"title":"失去意识的分散持久区域覆盖控制","authors":"Erick J. Rodríguez-Seda, Y. Diaz-Mercado","doi":"10.1109/CCTA41146.2020.9206267","DOIUrl":null,"url":null,"abstract":"This paper presents a decentralized, hybrid control approach for persistent area coverage control applications. The hybrid cooperative control framework builds on the concepts of cellular automata and awareness-based model to guarantee safe coverage of a large-scale domain by a network of mobile wireless sensors with bounded input disturbances and limited communication and sensing ranges. The framework only requires communication among nearby agents at discrete intervals of time, reducing the communication among agents. Results are validated through simulation and experiments with a team of ten differential-drive mobile robots.","PeriodicalId":241335,"journal":{"name":"2020 IEEE Conference on Control Technology and Applications (CCTA)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2020-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"Decentralized Persistent Area Coverage Control with Loss of Awareness\",\"authors\":\"Erick J. Rodríguez-Seda, Y. Diaz-Mercado\",\"doi\":\"10.1109/CCTA41146.2020.9206267\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper presents a decentralized, hybrid control approach for persistent area coverage control applications. The hybrid cooperative control framework builds on the concepts of cellular automata and awareness-based model to guarantee safe coverage of a large-scale domain by a network of mobile wireless sensors with bounded input disturbances and limited communication and sensing ranges. The framework only requires communication among nearby agents at discrete intervals of time, reducing the communication among agents. Results are validated through simulation and experiments with a team of ten differential-drive mobile robots.\",\"PeriodicalId\":241335,\"journal\":{\"name\":\"2020 IEEE Conference on Control Technology and Applications (CCTA)\",\"volume\":\"10 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2020-08-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2020 IEEE Conference on Control Technology and Applications (CCTA)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CCTA41146.2020.9206267\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2020 IEEE Conference on Control Technology and Applications (CCTA)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CCTA41146.2020.9206267","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Decentralized Persistent Area Coverage Control with Loss of Awareness
This paper presents a decentralized, hybrid control approach for persistent area coverage control applications. The hybrid cooperative control framework builds on the concepts of cellular automata and awareness-based model to guarantee safe coverage of a large-scale domain by a network of mobile wireless sensors with bounded input disturbances and limited communication and sensing ranges. The framework only requires communication among nearby agents at discrete intervals of time, reducing the communication among agents. Results are validated through simulation and experiments with a team of ten differential-drive mobile robots.
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