This book highlights cooperative coverage control approaches of multi-agent systems in uncertain environments and their applications in various fields. A novel theoretical formulation of multi-agent coverage is proposed to fulfill the coverage task via divide-and-conquer scheme. By taking workload partition and sweeping operations simultaneously, a distributed sweep coverage algorithm of multi-agent systems is developed to cooperatively complete the workload on the given region, and its input-to-state stability is guaranteed in theory. Moreover, the coverage performance is evaluated by estimating the error between the actual coverage time and the optimal time. Three application scenarios are presented to demonstrate the advantages of cooperative coverage control approaches in missile interception, intelligent transportation systems and environment monitoring, respectively.
Author(s): Chao Zhai, Hai-Tao Zhang, Gaoxi Xiao
Series: Studies in Systems, Decision and Control, 408
Publisher: Springer
Year: 2021
Language: English
Pages: 155
City: Singapore
Preface
Acknowledgements
Contents
Acronyms and Notation
Acronyms
Notation
1 Introduction to Multi-agent Cooperative Coverage Control
1.1 Background
1.2 State of the Art
1.3 Outline of the Book
References
2 Distributed Control Scheme for Online Workload Partition
2.1 Introduction
2.2 Problem Statement
2.3 Theoretical Analysis
2.4 Simulation Results
2.5 Conclusions
References
3 Decentralized Cooperative Sweep Coverage Algorithm in Uncertain Environments
3.1 Introduction
3.2 Formulation and Coverage Algorithm
3.3 Technical Analysis
3.3.1 Key Lemmas
3.3.2 Main Results
3.4 Simulation Results
3.5 Conclusions
References
4 Adaptive Cooperative Coverage Algorithm with Online Learning Strategies
4.1 Introduction
4.2 Problem Formulation
4.3 Technical Analysis
4.4 Conclusions
References
5 Distributed Sweep Coverage Algorithm Using Workload Memory
5.1 Introduction
5.2 Problem Formulation
5.3 Key Lemmas
5.4 Stability Analysis
5.5 Numerical Simulations
5.6 Conclusions
References
6 Cooperative Sweep Coverage Algorithm of Discrete Time Multi-agent Systems
6.1 Introduction
6.2 Problem Formulation
6.3 Main Results
6.4 Simulations
6.5 Conclusions
References
7 Coverage-Based Cooperative Interception Against Supersonic Flight Vehicles
7.1 Introduction
7.2 Problem Formulation
7.3 Main Results
7.4 Numerical Simulation
7.5 Conclusions
References
8 Coverage-Based Cooperative Routing Algorithm for Unmanned Ground Vehicles
8.1 Introduction
8.2 Basic Idea
8.3 Routing Algorithm
8.4 Simulation Results
8.5 Conclusions
References
9 Cooperative Coverage Control of Wireless Sensor Networks for Environment Monitoring
9.1 Introduction
9.2 Problem Statement
9.3 Main Results
9.3.1 Coverage Region Without Obstacles
9.3.2 Coverage Region with Obstacles
9.4 Numerical Simulation
9.5 Conclusions
References
10 Summary and Future Work
10.1 Summary
10.2 Future Work
Appendix Mathematical Concepts
A.1 Algebraic Graph Theory
A.2 Input-to-State Stability
References
