Coverage Enhancement of Mobile Multi-agent Networks while Preserving Global Connectivity

摘要：

This paper addresses the problem of coverage enhancement for a team of mobile agents with consideration of global connectivity. A hybrid coverage enhancement system is developed, consisting of two distinctive layers. In network control layer, a link removal algorithm is designed to generate a sparse network structure while preserving the global connectivity. A potential function based motion controller is synthesized in motion control layer to disperse a team of mobile agents while avoiding any inter-agent collisions. The proposed hybrid coverage enhancement system can reconfigure an initially compact multi-agent system to achieve a certain level of coverage with guaranteed connectivity and collision avoidance. Moreover, the proposed method can be used in both two dimensional area coverage enhancement and three dimensional space coverage enhancement.

关键词： Coverage control Mobile multi-agent systems Collision avoidance Connectivity preservation

作者: Zhenqiang Mi Yang Yang Guangjun Liu

作者单位: University of Science and Technology Beijing,Beijing,100083 China Department of Aerospace Engineering,Ryerson University,Toronto,ON,M5B 2K3 Canada

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 5381-5386

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）