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Communication Dans Un Congrès Année : 2016

Voronoi based decentralized coverage problem: from optimal control to Model Predictive Control

Résumé

This paper presents a novel decentralized framework for the Multi-Agent dynamical coverage problem subject to anti-collision constraints. The control objective is to authorize each agent operating strictly in its safety zone and then enhance the coverage. These zones are the result of a spatial Voronoi partition of the common working space of the Multi-Agent system based on the current positions of the agents. Each zone provides the local information to design the control policies that make each agent converging to a fixed point inside its Voronoi cell. The performance/effectiveness of the proposed techniques will be demonstrated via numerical examples.
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Dates et versions

hal-01390089 , version 1 (16-03-2020)

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Citer

Minh Tri Nguyen, Cristina Stoica Maniu. Voronoi based decentralized coverage problem: from optimal control to Model Predictive Control. 24th Mediterranean Conference on Control and Automation (MED), Jun 2016, Athens, Greece. pp.1307-1312, ⟨10.1109/MED.2016.7535958⟩. ⟨hal-01390089⟩
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