Multi-objective multi-robot deployment in a dynamic environment

Theoretical and Experimental Collaborative Area Coverage Schemes Using Mobile Agents

“…is only affected by the movement of agent i at the induced hyperbolic arc ∂G R j ∩ ∂H ji and by grouping the hyperbolic arcs in pairs and multiplying by α i we get (15). □…”

“…Several aspects of the area coverage problem have been studied over the years, including the effect of robot dynamics [7][8][9], communication constraints among agents [10][11][12], complex non-convex regions [13][14][15] or guaranteeing collision avoidance among the mobile robots [16,17]. A wide variety of methods has also been employed for multirobot area coverage such as geometric optimization [18], optimal control [19] or event-triggered control [20].…”

Distributed area coverage control with imprecise robot localization

“…Other factors that affect the choice of control scheme are the dynamics of the agents used, 6,7 the geometrical characteristics of the region of interest, 8,9 and the sensing performance of the agents' sensors. 10,11 Several varying approaches to the coverage problem have been proposed, including annealing algorithms, 12 game theory, 13 distributed optimization, 14 model predictive control, 15,16 optimal control, 17 and event-triggered control.…”

Fault tolerant area coverage control for multiagent systems

“…These include game-theoretic methods [4], event-triggered control [5] or more classical methods such as distributed geometric optimization [6] and optimal control theory [7]. Several special cases of the blanket coverage problem have been examined, including coverage for non-convex domains [8,9], taking into account heterogeneous or anisotropic sensing patterns [10,11], accounting for more realistic agent dynamics [12] and ensuring communication among the agents [13].…”