scholarly journals Cloud-Supported Coverage Control for Persistent Surveillance Missions

2017 ◽  
Vol 139 (8) ◽  
Author(s):  
Jeffrey R. Peters ◽  
Sean J. Wang ◽  
Amit Surana ◽  
Francesco Bullo
Keyword(s):  
Motion Planning ◽  
Finite Time ◽  
Mobile Agents ◽  
Pareto Optimal ◽  
Coverage Control ◽  
Control Scheme ◽  
Multi Agent ◽  
Time Invariant ◽  
Modular Framework ◽  
Effective Pairing

A cloud-supported coverage control scheme is proposed for multi-agent, persistent surveillance missions. This approach decouples assignment from motion planning operations in a modular framework. Coverage assignments and surveillance parameters are managed on the cloud and transmitted to mobile agents via unplanned and asynchronous exchanges. These updates promote load-balancing, while also allowing effective pairing with typical path planners. Namely, when paired with a planner satisfying mild assumptions, the scheme ensures that (i) coverage regions remain connected and collectively cover the environment, (ii) regions may go uncovered only over bounded intervals, (iii) collisions (sensing overlaps) are avoided, and (iv) for time-invariant event likelihoods, a Pareto optimal configuration is produced in finite time. The scheme is illustrated in simulated missions.

scholarly journals Fault tolerant area coverage control for multiagent systems

2018 ◽  
Vol 188 ◽  
pp. 05010
Author(s):  
Sotiris Papatheodorou ◽  
Anthony Tzes
Keyword(s):  
Multiagent Systems ◽  
Mobile Agents ◽  
Fault Tolerant ◽  
Region Of Interest ◽  
Simulation Studies ◽  
Coverage Control ◽  
Control Scheme ◽  
Gradient Based ◽  
Multi Agent ◽  
Catastrophic Faults

The fault tolerance characteristics of a distributed multi-agent coverage algorithm are examined. A team of sensor-equipped mobile agents is tasked with covering a planar region of interest. A distributed, gradient-based control scheme is utilized for this purpose. The agents are assumed to consist of three subsystems, each one of which may fail. The subsystems under examination are the actuation, sensing and the communication subsystem. Partial and catastrophic faults are examined. Several simulation studies are conducted highlighting the robustness of the distributed nature of the control scheme to these classes of faults, even when several of them happen at the same time.

Coverage Control for Mobile Sensor Networks on a Circle

2014 ◽  
Vol 02 (03) ◽  
pp. 243-248 ◽  
Author(s):  
Cheng Song ◽  
Gang Feng
Keyword(s):  
Sensor Networks ◽  
Mobile Agents ◽  
Mobile Sensor Networks ◽  
Mobile Sensors ◽  
Mobile Sensor ◽  
Coverage Problem ◽  
Control Laws ◽  
Coverage Control ◽  
Order Preservation ◽  
Multi Agent

This paper investigates the coverage problem for mobile sensor networks on a circle. The goal is to minimize the largest distance from any point on the circle to its nearest sensor while preserving the mobile sensors' order. The coverage problem is translated into a multi-agent consensus problem by showing that the largest distance from any point to its nearest sensor is minimized if the counterclockwise distance between each sensor and its right neighbor reaches a consensus. Distributed control laws are also developed to drive the mobile agents to the optimal configuration with order preservation. Simulation results illustrate the effectiveness of the proposed control laws.

Finite-time multi-agent deployment: A nonlinear PDE motion planning approach

Automatica ◽  
2011 ◽  
Vol 47 (11) ◽  
pp. 2534-2542 ◽  
Author(s):  
Thomas Meurer ◽  
Miroslav Krstic
Keyword(s):  
Motion Planning ◽  
Finite Time ◽  
Nonlinear Pde ◽  
Planning Approach ◽  
Multi Agent

scholarly journals Robust finite-time consensus subject to unknown communication time delays based on delay-dependent criteria

2021 ◽  
pp. 014233122110515
Author(s):  
Maryam Sharifi
Keyword(s):  
Finite Time ◽  
Time Delays ◽  
Sufficient Conditions ◽  
Consensus Algorithm ◽  
Multi Agent Systems ◽  
Razumikhin Theorem ◽  
Communication Time ◽  
Multi Agent ◽  
Delay Dependent ◽  
Time Invariant

In this paper, robust finite-time consensus of a group of nonlinear multi-agent systems in the presence of communication time delays is considered. In particular, appropriate delay-dependent strategies which are less conservative are suggested. Sufficient conditions for finite-time consensus in the presence of deterministic and stochastic disturbances are presented. The communication delays don’t need to be time invariant, uniform, symmetric, or even known. The only required condition is that all delays satisfy a known upper bound. The consensus algorithm is appropriate for agents with partial access to neighbor agents’ signals. The Lyapunov–Razumikhin theorem for finite-time convergence is used to prove the results. Simulation results on a group of mobile robot manipulators as the agents of the system are presented.

Finite-time consensus of heterogeneous unknown nonlinear multi-agent systems with external disturbances via event-triggered control

2020 ◽  
pp. 107754632094834
Author(s):  
Mehdi Zamanian ◽  
Farzaneh Abdollahi ◽  
Seyyed Kamaleddin Yadavar Nikravesh
Keyword(s):  
Nonlinear Dynamics ◽  
Finite Time ◽  
Small Region ◽  
Multi Agent Systems ◽  
External Disturbances ◽  
Agent Systems ◽  
Control Scheme ◽  
Multi Agent ◽  
Unknown Nonlinear Dynamics ◽  
Event Triggered

This article investigates the practical finite-time consensus for a class of heterogeneous multi-agent systems composed of first-order and second-order agents with heterogeneous unknown nonlinear dynamics and external disturbances in an undirected communication topology. To reduce the system updates, we propose an event-triggered approach. By defining auxiliary states, an adaptive distributed event-triggered control is designed to achieve practical finite-time consensus. Unknown nonlinear dynamics for each agent are estimated using radial basis function neural network. The stability of the overall closed-loop system is studied through the Lyapunov criterion. It is proven that by applying the proposed control scheme, the local neighbor position error and the velocity error between any two agents converge to a small region in finite time. Furthermore, it is shown that the Zeno behavior is ruled out. Finally, applicability and effectiveness of the proposed control scheme is verified and validated by two examples.

Event-triggered finite-time consensus for stochastic multi-agent systems

2020 ◽  
pp. 014233122093344
Author(s):  
Zichao Yang ◽  
Shiqi Zheng ◽  
Bingyun Liang ◽  
Yuanlong Xie
Keyword(s):  
Finite Time ◽  
Control Method ◽  
Output Feedback Control ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Control Scheme ◽  
Reduced Order Observer ◽  
Feedback Control Method ◽  
Multi Agent ◽  
Event Triggered

This paper studies a consensus problem for a kind of stochastic multi-agent systems (SMAS). First, a reduced-order observer is designed to estimate unknown states in SMASs. Second, an event-triggered adaptive output feedback control method is presented. It can reduce the controller updates and communication burden. Moreover, the radial basis function neural networks are applied to approximate the unknown functions in systems. Finally, it is demonstrated that the proposed control scheme can achieve finite-time practical consensus for SMASs. Simulation results are provided to illustrate the effectiveness of the theoretical analysis.

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