Finite time coverage tracking algorithm of maneuvering target by multiple mobile agents

In this paper, a problem regarding how multiple mobile agents track a high-speed maneuvering target is considered. Due to the uncertainties of the target caused by the background noises, we use a dynamic non-uniform region to describe the location of target. Therefore, the cooperative tracking problem is transformed into a problem to cover a known dynamic non-uniform region. In order to capture the high-speed maneuvering target, the mobile agents with global sensing areas and limited actuation region are designed to track and cover the dynamic region. Also, the probability that the target appear in the circle is denoted by a probability density function and a performance index function is given to describe the effectiveness of covering a moving target. With observer-based estimation and dynamic formation control, a coverage tracking algorithm is proposed so that the group of agents catch the target by a coverage tracking policy in finite time.

Balanced Parallel Exploration of Orthogonal Regions

We consider the use of multiple mobile agents to explore an unknown area. The area is orthogonal, such that all perimeter lines run both vertically and horizontally. The area may consist of unknown rectangular holes which are non-traversable internally. For the sake of analysis, we assume that the area is discretized into N points allowing the agents to move from one point to an adjacent one. Mobile agents communicate through face-to-face communication when in adjacent points. The objective of exploration is to develop an online algorithm that will explore the entire area while reducing the total work of all k agents, where the work is measured as the number of points traversed. We propose splitting the exploration into two alternating tasks, perimeter and room exploration. The agents all begin with the perimeter scan and when a room is found they transition to room scan after which they continue with perimeter scan until the next room is found and so on. Given the total traversable points N, our algorithm completes in total O ( N ) work with each agent performing O ( N / k ) work, namely the work is balanced. If the rooms are hole-free the exploration time is also asymptotically optimal, O ( N / k ) . To our knowledge, this is the first agent coordination algorithm that considers simultaneously work balancing and small exploration time.