Distributed Coverage Control with Dependent Density Functions

Pin Xian Wu, Jun Ming Li, Teng-Hu Cheng

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

A distributed coverage control strategy is developed for a group of heterogeneous robots in this work. Most existing coverage controllers assume the relation between the underlying density function and the locations of the robots is independent. To relax the condition for more potential applications, a new coverage control strategy that accounts for the dependence between the underlying density function and the locations of the robots is developed, and moreover, it can be extended to the conventional coverage controller by selecting specific system parameters. In addition, the heterogeneity among the robots can also cause various levels of reduction to the underlying density function, and hence, an Enhanced Multiplicatively Weighted Voronoi (EMWV) partition along with the controller is developed, so that optimal coverage can be obtained despite the heterogeneity between the robots. Stability analysis is proven to ensure system convergence, and simulations are conducted to verify the efficacy of the developed controllers.

Original languageEnglish
Title of host publication2018 IEEE Conference on Decision and Control, CDC 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1299-1304
Number of pages6
ISBN (Electronic)9781538613955
DOIs
StatePublished - 18 Jan 2019
Event57th IEEE Conference on Decision and Control, CDC 2018 - Miami, United States
Duration: 17 Dec 201819 Dec 2018

Publication series

NameProceedings of the IEEE Conference on Decision and Control
Volume2018-December
ISSN (Print)0743-1546

Conference

Conference57th IEEE Conference on Decision and Control, CDC 2018
CountryUnited States
CityMiami
Period17/12/1819/12/18

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