使用导航功能的多智能体系统的分布式覆盖控制

2013 10th IEEE International Conference on Control and Automation (ICCA) Pub Date : 2013-06-12 DOI:10.1109/ICCA.2013.6565000

Chao Zhai, Yiguang Hong

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引用次数: 1

摘要

本文研究了环境中多个移动代理的覆盖问题。对于一些覆盖问题，提出了一种新的公式。同时，提出了一种分布式控制方法，对各个智能体进行全局配置优化，并实现避碰并行控制。此外，还证明了利用导航函数可以实现局部最优配置。

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Distributed coverage control of multi-agent systems using navigation functions

This paper addresses the coverage problem of multiple mobile agents in the environment. A new formulation is proposed for some coverage problems. Meanwhile, a distributed control method is developed for each agent to optimize the global configuration in parallel with collision avoidance. Moreover, it is proved that locally optimal configuration can be achieved with the aid of navigation functions.

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2013 10th IEEE International Conference on Control and Automation (ICCA)

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