Adaptive Coverage Control for Dynamic Pattern Generation
This paper studies an adaptive coverage control problem for a system of multiple car-like mobile robots. The Centroidal Voronoi Tessellation (CVT) is applied to generate an optimal coverage configuration of the multi-agent system for a dynamic region. A function approximation technique based immersi...
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th-mahidol.846292023-06-19T00:12:44Z Adaptive Coverage Control for Dynamic Pattern Generation Fungtammasan K. Mahidol University Engineering This paper studies an adaptive coverage control problem for a system of multiple car-like mobile robots. The Centroidal Voronoi Tessellation (CVT) is applied to generate an optimal coverage configuration of the multi-agent system for a dynamic region. A function approximation technique based immersion and invariance (FATII) controller is proposed to drive the system to the generated optimal configuration while ensuring the output constraint. The stability of the proposed FATII controller is established and its validity is tested under experiments. 2023-06-18T17:12:44Z 2023-06-18T17:12:44Z 2022-01-01 Conference Paper ASCC 2022 - 2022 13th Asian Control Conference, Proceedings (2022) , 1404-1408 10.23919/ASCC56756.2022.9828107 2-s2.0-85135628810 https://repository.li.mahidol.ac.th/handle/123456789/84629 SCOPUS |
| institution |
Mahidol University |
| building |
Mahidol University Library |
| continent |
Asia |
| country |
Thailand Thailand |
| content_provider |
Mahidol University Library |
| collection |
Mahidol University Institutional Repository |
| topic |
Engineering |
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Engineering Fungtammasan K. Adaptive Coverage Control for Dynamic Pattern Generation |
| description |
This paper studies an adaptive coverage control problem for a system of multiple car-like mobile robots. The Centroidal Voronoi Tessellation (CVT) is applied to generate an optimal coverage configuration of the multi-agent system for a dynamic region. A function approximation technique based immersion and invariance (FATII) controller is proposed to drive the system to the generated optimal configuration while ensuring the output constraint. The stability of the proposed FATII controller is established and its validity is tested under experiments. |
| author2 |
Mahidol University |
| author_facet |
Mahidol University Fungtammasan K. |
| format |
Conference or Workshop Item |
| author |
Fungtammasan K. |
| author_sort |
Fungtammasan K. |
| title |
Adaptive Coverage Control for Dynamic Pattern Generation |
| title_short |
Adaptive Coverage Control for Dynamic Pattern Generation |
| title_full |
Adaptive Coverage Control for Dynamic Pattern Generation |
| title_fullStr |
Adaptive Coverage Control for Dynamic Pattern Generation |
| title_full_unstemmed |
Adaptive Coverage Control for Dynamic Pattern Generation |
| title_sort |
adaptive coverage control for dynamic pattern generation |
| publishDate |
2023 |
| url |
https://repository.li.mahidol.ac.th/handle/123456789/84629 |
| _version_ |
1781416505070583808 |