Distributed sweep coverage algorithm of multi-agent systems using workload memory

This paper addresses the sweep coverage problem of multi-agent systems in the uncertain environment. A novel formulation of distributed sweep coverage is proposed for multiple agents to cooperatively complete the workload in the coverage region. To save the sweep time, each agent takes part in parti...

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Main Authors: Zhai, Chao, Xiao, Gaoxi, Chen, Michael Z. Q.
Other Authors: School of Electrical and Electronic Engineering
Format: Article
Language:English
Published: 2020
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Online Access:https://hdl.handle.net/10356/144614
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Institution: Nanyang Technological University
Language: English
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spelling sg-ntu-dr.10356-1446142020-11-16T02:49:28Z Distributed sweep coverage algorithm of multi-agent systems using workload memory Zhai, Chao Xiao, Gaoxi Chen, Michael Z. Q. School of Electrical and Electronic Engineering Institute of Catastrophe Risk Management (ICRM) Engineering::Electrical and electronic engineering Sweep Coverage Multi-agent Systems This paper addresses the sweep coverage problem of multi-agent systems in the uncertain environment. A novel formulation of distributed sweep coverage is proposed for multiple agents to cooperatively complete the workload in the coverage region. To save the sweep time, each agent takes part in partitioning the whole region using its partition bar while sweeping its own subregion at a constant rate. The trajectories of partition bars form the boundaries between adjacent subregions. Essentially, the partition operation is carried out by means of workload memory in order to balance the workload in each subregion. In particular, it is proved that the dynamics of multi-agent system is input-to-state stable. Theoretical analysis is conducted to obtain the upper bound of the error between the actual sweep time and the optimal sweep time. Moreover, a sufficient condition is provided to avoid the collision of partition bars during the partition. Finally, numerical simulations demonstrate the effectiveness of the proposed approach. Ministry of Education (MOE) National Research Foundation (NRF) Accepted version The authors wish to thank the anonymous reviewers for their constructive comments. This work is partially supported by the Future Resilience System Project at the Singapore-ETH Centre (SEC), which is funded by the National Research Foundation of Singapore (NRF) under its Campus for Research Excellence and Technological Enterprise (CREATE) program. It is also supported by Ministry of Education of Singapore under Contract MOE2016-T2-1-119. 2020-11-16T02:49:28Z 2020-11-16T02:49:28Z 2019 Journal Article Zhai, C., Xiao, G., & Chen, M. Z. Q. (2019). Distributed sweep coverage algorithm of multi-agent systems using workload memory. Systems & Control Letters, 124, 75–82. doi:10.1016/j.sysconle.2018.12.006 0167-6911 https://hdl.handle.net/10356/144614 10.1016/j.sysconle.2018.12.006 124 75 82 en Systems & Control Letters © 2018 Elsevier B.V. All rights reserved. This paper was published in Systems & Control Letters and is made available with permission of Elsevier B.V. application/pdf
institution Nanyang Technological University
building NTU Library
continent Asia
country Singapore
Singapore
content_provider NTU Library
collection DR-NTU
language English
topic Engineering::Electrical and electronic engineering
Sweep Coverage
Multi-agent Systems
spellingShingle Engineering::Electrical and electronic engineering
Sweep Coverage
Multi-agent Systems
Zhai, Chao
Xiao, Gaoxi
Chen, Michael Z. Q.
Distributed sweep coverage algorithm of multi-agent systems using workload memory
description This paper addresses the sweep coverage problem of multi-agent systems in the uncertain environment. A novel formulation of distributed sweep coverage is proposed for multiple agents to cooperatively complete the workload in the coverage region. To save the sweep time, each agent takes part in partitioning the whole region using its partition bar while sweeping its own subregion at a constant rate. The trajectories of partition bars form the boundaries between adjacent subregions. Essentially, the partition operation is carried out by means of workload memory in order to balance the workload in each subregion. In particular, it is proved that the dynamics of multi-agent system is input-to-state stable. Theoretical analysis is conducted to obtain the upper bound of the error between the actual sweep time and the optimal sweep time. Moreover, a sufficient condition is provided to avoid the collision of partition bars during the partition. Finally, numerical simulations demonstrate the effectiveness of the proposed approach.
author2 School of Electrical and Electronic Engineering
author_facet School of Electrical and Electronic Engineering
Zhai, Chao
Xiao, Gaoxi
Chen, Michael Z. Q.
format Article
author Zhai, Chao
Xiao, Gaoxi
Chen, Michael Z. Q.
author_sort Zhai, Chao
title Distributed sweep coverage algorithm of multi-agent systems using workload memory
title_short Distributed sweep coverage algorithm of multi-agent systems using workload memory
title_full Distributed sweep coverage algorithm of multi-agent systems using workload memory
title_fullStr Distributed sweep coverage algorithm of multi-agent systems using workload memory
title_full_unstemmed Distributed sweep coverage algorithm of multi-agent systems using workload memory
title_sort distributed sweep coverage algorithm of multi-agent systems using workload memory
publishDate 2020
url https://hdl.handle.net/10356/144614
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