三维非凸环境下多智能体系统的协同球面覆盖控制

IF 5.9 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Automatica Pub Date : 2025-06-01 Epub Date: 2025-03-20 DOI:10.1016/j.automatica.2025.112269

Jiayu Zou , Hai-Tao Zhang , Ning Xing , Xingjian Liu

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引用次数: 0

摘要

多智能体系统（MASs）的优化配置一直是一个具有挑战性的任务，以实现丰富的三维（3D）非凸覆盖操作。本文提出了一种球面覆盖控制方案，该方案设计了一个带有分布式估计器的球面分区协议，以确保每个子区域的工作负载均衡。然后，建立分布式控制律，将每个智能体渐近部署到相关的最优配置。值得注意的是，本设计的分析挑战在于由所提出的球面划分协议引起的三层级联系统的收敛分析。最后，通过数值仿真验证了所提出的球面覆盖控制方法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Cooperative spheroidal coverage control of multi-agent systems in 3D non-convex environments

The optimal configuration of multi-agent systems (MASs) has long been a challenging task to fulfill abundant three-dimensional (3D) non-convex coverage operations. This brief proposes a spheroidal coverage control scheme, where a spheroidal partition protocol is designed with a distributed estimator to ensure an equitable workload in each sub-region. Afterwards, a distributed control law is developed to asymptotically deploy each agent to the associated optimal configuration. Significantly, the analytical challenge of the present design lies in the convergence analysis of the three-level cascading systems induced by the proposed spheroidal partition protocol. Finally, numerical simulation is conducted to verify the effectiveness of the present spheroidal coverage control method.

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来源期刊

Automatica 工程技术-工程：电子与电气

CiteScore

10.70

自引率

7.80%

发文量

617

审稿时长

5 months

期刊介绍： Automatica is a leading archival publication in the field of systems and control. The field encompasses today a broad set of areas and topics, and is thriving not only within itself but also in terms of its impact on other fields, such as communications, computers, biology, energy and economics. Since its inception in 1963, Automatica has kept abreast with the evolution of the field over the years, and has emerged as a leading publication driving the trends in the field. After being founded in 1963, Automatica became a journal of the International Federation of Automatic Control (IFAC) in 1969. It features a characteristic blend of theoretical and applied papers of archival, lasting value, reporting cutting edge research results by authors across the globe. It features articles in distinct categories, including regular, brief and survey papers, technical communiqués, correspondence items, as well as reviews on published books of interest to the readership. It occasionally publishes special issues on emerging new topics or established mature topics of interest to a broad audience. Automatica solicits original high-quality contributions in all the categories listed above, and in all areas of systems and control interpreted in a broad sense and evolving constantly. They may be submitted directly to a subject editor or to the Editor-in-Chief if not sure about the subject area. Editorial procedures in place assure careful, fair, and prompt handling of all submitted articles. Accepted papers appear in the journal in the shortest time feasible given production time constraints.