COVERAGE CONTROL ON MULTI-AGENT SYSTEM

• Main Authors: , REKA INOVAN, , Dr.Eng. Adha Imam Cahyadi
• Format: Theses and Dissertations NonPeerReviewed
• Published: [Yogyakarta] : Universitas Gadjah Mada 2014
• Subjects: ETD
• Online Access: https://repository.ugm.ac.id/129524/; http://etd.ugm.ac.id/index.php?mod=penelitian_detail&sub=PenelitianDetail&act=view&typ=html&buku_id=69916
• Institution: Universitas Gadjah Mada

In this work, we study the problem of maximizing the coverage of a Mobile Sensor Network under an unknown interest function through distributed means. To maximize the coverage, we adopt the distributed version of the Voronoi locational optimization method. The stability results of the method is discussed. Numerical experiment is conducted to study the eect of network topology and interest function. To estimate the interest function, we used the distributed Recursive Least Square method based on Alternating Minimization Algorithm Framework. The correctness and eectiveness of the method is proved through numerical simulation. Then, we aim to combine those two method. The condition that need to be fulfilled to make the system stable is discussed. We also introduced some modification to the RLS algorithm to alleviate the problem of the lack of excitation. The combined algorithm is then simulated to show its eectiveness. The result of this work shows that the modified method perform slightly worse compared with the case of centralized locational optimization with known interest field