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Spatially-distributed coverage optimization and control with limited-range interactions

Published online by Cambridge University Press:  15 September 2005

Jorge Cortés ,
Sonia Martínez  and
Francesco Bullo
Jorge Cortés
Affiliation:
Department of Applied Mathematics and Statistics, Baskin School of Engineering, University of California, Santa Cruz, 1156 High Street, Santa Cruz, California, 95064, USA; jcortes@ucsc.edu
Sonia Martínez
Affiliation:
Department of Mechanical and Environmental Engineering, University of California, Santa Barbara, Engineering Building II, Santa Barbara, California, 93106, USA; smartine@engr.ucsb.edu; bullo@engr.ucsb.edu
Francesco Bullo
Affiliation:
Department of Mechanical and Environmental Engineering, University of California, Santa Barbara, Engineering Building II, Santa Barbara, California, 93106, USA; smartine@engr.ucsb.edu; bullo@engr.ucsb.edu
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Abstract

This paper presents coordination algorithms for groups of mobile agents performing deployment and coverage tasks. As an important modeling constraint, we assume that each mobile agent has a limited sensing or communication radius.
Based on the geometry of Voronoi partitions and proximity graphs, we analyze a class of aggregate objective functions and propose coverage algorithms in continuous and discrete time.
These algorithms have convergence guarantees and are spatially distributed with respect to appropriate proximity graphs. Numerical simulations illustrate the results.

Keywords

Distributed dynamical systemscoordination and cooperative controlgeometric optimizationnonsmooth analysisVoronoi partitions.
Type
Research Article
Information
ESAIM: Control, Optimisation and Calculus of Variations , Volume 11 , Issue 4 , October 2005 , pp. 691 - 719
Copyright
© EDP Sciences, SMAI, 2005

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