Swarm-based dynamic coverage control

Gökhan M. Atinç, Dušan M. Stipanović, Petros G. Voulgaris, Mansour Karkoub

Research output: Contribution to journalConference article

11 Citations (Scopus)

Abstract

In this paper, we study the swarm-based coverage control problem for multi-agent systems where the main objective of a group of mobile agents is to explore a given compact region. We consider a group of coverage agents that move as a swarm in order to explore the given domain. Agents are deployed to uncovered regions via a swarming control scheme where a leader agent selects a target position in an uncovered region while all other agents are commanded to swarm around the leader agent's target position. In addition to the coverage objective, we design control inputs for collision avoidance, obstacle avoidance and proximity maintenance.

Original languageEnglish
Article number7040483
Pages (from-to)6963-6968
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
Volume2015-February
Issue numberFebruary
DOIs
Publication statusPublished - 1 Jan 2014
Event2014 53rd IEEE Annual Conference on Decision and Control, CDC 2014 - Los Angeles, United States
Duration: 15 Dec 201417 Dec 2014

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Control and Optimization

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    Atinç, G. M., Stipanović, D. M., Voulgaris, P. G., & Karkoub, M. (2014). Swarm-based dynamic coverage control. Proceedings of the IEEE Conference on Decision and Control, 2015-February(February), 6963-6968. [7040483]. https://doi.org/10.1109/CDC.2014.7040483