文章基本信息

标题：Hybrid System Modeling of Multi-Agent Coverage Problems with Energy Depletion and Repletion ⁎
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作者：Xiangyu Meng ; Arian Houshmand ; Christos G. Cassandras 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2018
卷号：51
期号：16
页码：223-228
DOI：10.1016/j.ifacol.2018.08.038
语种：English
出版社：Elsevier
摘要：AbstractWe present a hybrid system model describing the behavior of multiple agents cooperating to solve an optimal coverage problem under energy depletion and repletion constraints. The model captures the controlled switching of agents between coverage (when energy is depleted) and battery charging (when energy is replenished) modes. Our analysis contains three parts. The first part shows how the model guarantees the feasibility of the coverage problem by defining a guard function on each agent’s battery level to prevent it from dying on its way to a charging station. The second part provides two scheduling algorithms to solve the contention problem of agents competing for the only charging station in the mission space. The third part shows the optimality of the motion plan adopted in the proposed model.
关键词：KeywordsMulti-agent coverageoptimal controlgradient methodsinfinitesimal perturbation analysis (IPA)hybrid systems