文章基本信息

标题：Decentralized Adaptive Coverage Control of Nonholonomic Mobile Robots * * S. Srikant is partially supported by IIT Bombay IRCC Seed Grant 12IRCCSG007.
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作者：Rihab A. Razak ; Rihab A. Razak ; Srikant Sukumar 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2016
卷号：49
期号：18
页码：410-415
DOI：10.1016/j.ifacol.2016.10.200
语种：English
出版社：Elsevier
摘要：Abstract: This paper proposes an algorithm for decentralized adaptive control for coverage of a given convex region using multiple agents with double integrator dynamics. The result is then extended to nonholonomic mobile robots. The density function which describes the event of interest to be sensed by the agents is assumed to be unknown and an adaptation law is derived which can learn the sensory function with time. This work is an extension of the work by Schwager et al. (2007) for mobile sensors with single integrator dynamics. We propose an algorithm which ensures convergence to a near optimal configuration and demonstrate the same using simulations.
关键词：Keywordscoverage controlmulti-agentadaptive controldecentralized control