Multi-role Coverage Control for Multi-color Mass Games: A Voronoi-based Cut-in Approach

Miyano, Tatsuya; Shibata, Kazuki; Jimbo, Takashi

doi:10.1016/j.ifacol.2017.08.136

Cited by 2 publications

(4 citation statements)

References 6 publications

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“…To derive a global optimal solution, we first integrate cut-in algorithm in [14] into the Voronoibased algorithm. As additional information, agent i ∈ ν shares P l in (1) with its neighborhood agent j ∈ N i .…”

Section: Global Optimal Coverage Controlmentioning

confidence: 99%

“…In [14], the collision avoidance method is also considered in discrete space. In this method, each agent is placed within a divided pixel that is two times larger than the size of the agent, and is then passed through the space among other agents.…”

Section: Collision Avoidancementioning

confidence: 99%

“…To avoid such problems, the repulsive force is reduced by decreasing K s in (14) if C i = ∅. If K s asymptotically approaches to zero, agent i which owns no target within its Voronoi region exponentially converges to the position of targets because the movement of the agent is not affected by the repulsive force in (13).…”

Section: Collision Avoidancementioning

confidence: 99%

“…In an effort to guarantee the global optimality, another Voronoi-based algorithm is proposed in [14] in which each agent shares the importance magnitude in neighboring regions defined by their Voronoi partitions. Moreover, collision avoidance, which forces robots to move on a discretized grid, was considered, and multi-color mass game numerical simulations showed that this proposed algorithm provided better coverage performance than a conventional algorithm.…”

Section: Introductionmentioning

confidence: 99%

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Development of global optimal coverage control using multiple aerial robots

2019

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Coverage control has been widely used for constructing mobile sensor network such as for environmental monitoring, and one of the most commonly used methods is the Lloyd algorithm based on Voronoi partitions. However, when this method is used, the result sometimes converges to a local optimum. To overcome this problem, game theoretic coverage control has been proposed and found to be capable of stochastically deriving the optimal deployment. From a practical point of view, however, it is necessary to make the result converge to the global optimum deterministically. In this paper, we propose a global optimal coverage control along with collision avoidance in continuous space that ensures multiple sensors can deterministically and smoothly move to the global optimal deployment. This approach consists of a cut-in algorithm based on neighborhood importance of measurement and a modified potential method for collision avoidance. The effectiveness of the proposed algorithm has been confirmed through numerous simulations and some experiments using multiple aerial robots.

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Section: Global Optimal Coverage Controlmentioning

confidence: 99%

Section: Collision Avoidancementioning

confidence: 99%

Section: Collision Avoidancementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Development of global optimal coverage control using multiple aerial robots

2019

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Coverage Control for Resilient Monitoring System

Shibata

Miyano

Jimbo

2019

Transactions of the Society of Instrument and Control Engineers

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Distributed coverage control is expected to be promising solution for stable operation of the large scale monitoring system, and one of the most commonly used methods is the Lloyd algorithm. However, when this algorithm is used, the result sometimes converges to a local optimal deployment. To avoid this problem, Voronoi based cut-in algorithm has been proposed and proved to derive the optimal deployment deterministically. From a practical point of view, however, the coverage system should be resilient under fuel exhaustion or sensor failure by minimizing the performance degradation and recovering its performance. Therefore, in this paper, we propose a resilient coverage control based on Voronoi based cut-in algorithm, so that remaining sound robots and newly added robots can maximize the total coverage performance. Through simulations and experiments, our proposed algorithm has shown better performance than the conventional coverage control.

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Multi-role Coverage Control for Multi-color Mass Games: A Voronoi-based Cut-in Approach

Cited by 2 publications

References 6 publications

Development of global optimal coverage control using multiple aerial robots

Development of global optimal coverage control using multiple aerial robots

Coverage Control for Resilient Monitoring System

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