An Event-Triggered Virtual Force Algorithm for Multi-Agent Coverage Control with Obstacles

In this work, we propose an event-triggered algorithm based on a virtual force deployment approach to address the multi-agent coverage control problem in the presence of obstacles. Unlike most works that consider this problem, we are mainly interested in reducing the amount of communication and moti...

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Bibliographic Details
Main Authors: Ajina, Mohanad, Nowzari, Cameron
Format: Conference Proceeding
Language:English
Subjects:
Force
Motion control
Multi-agent systems
Task analysis
Temperature sensors
Wireless sensor networks
Online Access:Request full text
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Summary:In this work, we propose an event-triggered algorithm based on a virtual force deployment approach to address the multi-agent coverage control problem in the presence of obstacles. Unlike most works that consider this problem, we are mainly interested in reducing the amount of communication and motion required by the agents to reach a configuration that increases the coverage throughout an environment of interest. In particular, most works that consider this problem assume agents are in constant communication with each other. Instead, the event-triggered algorithm we propose allows agents to decide for themselves when communication is necessary while still achieving the primary goal of covering the environment and ensuring collisions are avoided. Several simulations illustrate the result of our algorithm with and without the presence of an obstacle and compares it against a similar algorithm that does not consider event-triggered communication.
ISSN:2378-5861
DOI:10.23919/ACC.2018.8430810