Coverage control of unicycle multi‐agent network in dynamic environment

Abstract

This paper studies the coverage control problem of an unicycle multi‐agent network with external disturbance in a dynamic environment which is described by a time‐varying density function. It is a challenging task to design a coverage control to simultaneously handle the external disturbance, underactuated model and time‐varying density function. Based on Voronoi partition, we proposed a coverage control approach which can maximize the metric function via robust tracking the Voronoi centroid with external disturbance. It is worth to mentioning that the angle of motion of the unicycle agent can align with the Voronoi centroid in finite time. Finally, the effectiveness of the proposed control is shown by simulation results.

Target Enclosing and Coverage Control for Quadrotors with Constraints and Time-Varying Delays: A Neural Adaptive Fault-Tolerant Formation Control Approach

“…The main purpose of the former was to control several mobile sensors to rotate around or above a detected target to obtain detailed information from all angles [ 5 , 6 , 7 ]. The objective of the latter was to optimize the deployment location of multiple sensors to achieve effective coverage of the interest area, where the methods are mainly Voronoi partitioning-based [ 8 , 9 ], coverage cost function-based [ 10 ], K-means-based [ 11 ] and reinforcement learning-based [ 12 ]. However, these methods cannot be directly applied to small-scale aerial platforms due to the contradiction between the complex location optimization algorithms and limited computing resources.…”