文章基本信息

标题：Hybrid coverage and inspection control for anisotropic mobile sensor teams
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作者：Antonio Adaldo ; Dimos V. Dimarogonas ; Karl H. Johansson 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：613-618
DOI：10.1016/j.ifacol.2017.08.098
语种：English
出版社：Elsevier
摘要：AbstractIn this paper, we present an algorithm for pose control of a team of mobile sensors for coverage and inspection applications. The region to cover is abstracted into a finite set of landmarks, and each sensor is responsible to cover some of the landmarks. The sensors progressively improve their coverage by adjusting their poses and by transferring the ownership of some landmarks to each other. Inter-sensor communication is pairwise and intermittent. The sensor team is formally modeled as a multi-agent hybrid system, and an invariance argument formally shows that the team reaches an equilibrium configuration, while a global coverage measure is improving monotonically. A numerical simulation corroborates the theoretical results.
关键词：Keywordsmulti-agent systemssensor networkshybridswitched systems modeling