Decentralized, Adaptive Sweep Algorithm of Multi-agent Systems in Uncertain Environment

摘要：

　　This paper addresses sweep coverage problem of multi-agent systems in the uncertain environment.At first we present a new formulation and then propose the decentralized sweep coverage algorithm to guarantee the complete coverage of the given region by sweeping in parallel with workload partition.Furthermore,the adaptive control technique is employed to handle the environmental uncertainty,and an upper bound for the error between coverage time and optimal time is estimated.Finally,numerical simulation demonstrates the effectiveness of the sweep coverage algorithm.

关键词： Multi-agent systems sweep coverage adaptive control environmental uncertainties

作者: Chao Zhai Yiguang Hong

作者单位: Key Laboratory of Systems and Control,Institute of Systems Science,Academy of Math and Systems Science,Chinese Academy of Sciences,Beijing 100190,China

会议类型: 国内会议

会议名称: 第八届中国多智能体系统与控制会议(MASC”2012)

会议地点: 上海

会议语种:英文

页码: 79-84

在线出版日期: 2012-10-20（万方平台首次上网日期，不代表论文的发表时间）