Distributed Coverage Control with Dependent Density Functions

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

研究成果: Conference contribution同行評審

摘要

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.

原文English
主出版物標題2018 IEEE Conference on Decision and Control, CDC 2018
發行者Institute of Electrical and Electronics Engineers Inc.
頁面1299-1304
頁數6
ISBN(電子)9781538613955
DOIs
出版狀態Published - 18 一月 2019
事件57th IEEE Conference on Decision and Control, CDC 2018 - Miami, United States
持續時間: 17 十二月 201819 十二月 2018

出版系列

名字Proceedings of the IEEE Conference on Decision and Control
2018-December
ISSN(列印)0743-1546

Conference

Conference57th IEEE Conference on Decision and Control, CDC 2018
國家United States
城市Miami
期間17/12/1819/12/18

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