Controlled Coverage Using Time-Varying Density Functions
IFAC Proceedings Volumes(2013)
摘要
A new approach for controlling a system of multiple agents by choosing a time-varying density function is presented, employing optimal coverage ideas. In this approach, we specify a time-varying density function that represents where it is that want the agents to monitor, and how important it is for each point to be covered. A new algorithm is presented under which the agents track the time-varying density function while providing optimal coverage of the density function. Results from robot implementation show that the proposed algorithm guides the agents well over the chosen density functions, and that the effectiveness of the coverage is higher than other comparable algorithms.
更多查看译文
关键词
Coverage control, centroidal Voronoi tessellations, time-varying systems, tracking systems, control algorithms, mobile robots
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络
Chat Paper
正在生成论文摘要