KFU. Card publication. Adaptive Multi-Agent Coverage Control With Obstacle Avoidance

KAZAN
FEDERAL UNIVERSITY

- RUS
- 中文
- ES

ADAPTIVE MULTI-AGENT COVERAGE CONTROL WITH OBSTACLE AVOIDANCE

Form of presentation

Articles in international journals and collections

Year of publication

2022

Язык

английский

Authors, employees of KFU

Magid Evgeniy Arkadevich, author

Bibliographic description in the original language

Bai Y. Adaptive Multi-Agent Coverage Control With Obstacle Avoidance / Wang Y., Svinin M., Magid E., Sun R. // IEEE Control Systems Letters. - 2022. - Vol. 6. - p. 944-949.

Annotation

This letter presents an adaptive coverage control strategy for multi-agent systems with obstacle avoidance in the presence of actuator faults and time-varying uncertainties. The strategy is based on a leader-follower approach. Assuming that the motion of the leader is given, one distributes the followers within the leader's obstacle-free sensing range so that collisions with obstacles can be avoided. An optimized distribution is achieved through the Centroidal Voronoi Tessellation (CVT) and a function approximation technique based immersion and invariance (FATII) coverage controller is constructed to realize the CVT. The stability of the FATII coverage controller is established and its validity is tested by simulations.

Keywords

Adaptive control, uncertain systems, cooperative control

The name of the journal

IEEE Control Systems Letters

URL

https://ieeexplore.ieee.org/document/9448334

Please use this ID to quote from or refer to the card

https://repository.kpfu.ru/eng/?p_id=257409&p_lang=2

Resource files

File name	Size (MB)	Format
F_2022_Adaptive_Multi_Agent_Coverage_Control_With_Obstacle_Avoidance.pdf	0,45	pdf	show / download

Full metadata record

Field DC	Value	Language
dc.contributor.author	Magid Evgeniy Arkadevich	ru_RU
dc.date.accessioned	2022-01-01T00:00:00Z	ru_RU
dc.date.available	2022-01-01T00:00:00Z	ru_RU
dc.date.issued	2022	ru_RU
dc.identifier.citation	Bai Y. Adaptive Multi-Agent Coverage Control With Obstacle Avoidance / Wang Y., Svinin M., Magid E., Sun R. // IEEE Control Systems Letters. - 2022. - Vol. 6. - p. 944-949.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/eng/?p_id=257409&p_lang=2	ru_RU
dc.description.abstract	IEEE Control Systems Letters	ru_RU
dc.description.abstract	This letter presents an adaptive coverage control strategy for multi-agent systems with obstacle avoidance in the presence of actuator faults and time-varying uncertainties. The strategy is based on a leader-follower approach. Assuming that the motion of the leader is given, one distributes the followers within the leader's obstacle-free sensing range so that collisions with obstacles can be avoided. An optimized distribution is achieved through the Centroidal Voronoi Tessellation (CVT) and a function approximation technique based immersion and invariance (FATII) coverage controller is constructed to realize the CVT. The stability of the FATII coverage controller is established and its validity is tested by simulations.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject	Adaptive control	ru_RU
dc.subject	uncertain systems	ru_RU
dc.subject	cooperative control	ru_RU
dc.title	Adaptive Multi-Agent Coverage Control With Obstacle Avoidance	ru_RU
dc.type	Articles in international journals and collections	ru_RU