文章基本信息

标题：Decentralized Control for Self-Deploying Robotic Networks: Sweep Boundary Coverage ∗
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作者：Anna A. Semakova ; Kirill S. Ovchinnikov ; Alexey S. Matveev 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2015
卷号：48
期号：11
页码：628-633
DOI：10.1016/j.ifacol.2015.09.257
语种：English
出版社：Elsevier
摘要：AbstractSeveral nonholonomic Dubins-car like robots travel over paths with bounded curvatures in a plane that contains an a priori unknown region. The robots are anonymous to one another and do not use communication facilities. Any of them has access to the current distance to the region and can determine the relative positions and orientations of the companion robots within a finite and given visibility range. We present a distributed navigation and guidance strategy under which every robot autonomously converges to the desired distance to the region with always respecting a given safety margin, the robots do not collide with one another, and the entire team ultimately sweeps over the respective equidistant curve at a speed exceeding a given threshold, thus forming a kind of a sweeping barrier at the perimeter of the region. Mathematically rigorous justification of the proposed strategy is offered; its effectiveness is confirmed by extensive computer simulations.
关键词：KeywordsControl of nonlinear systemsnetworked nonlinear systemsrobot navigationsensor based control