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Distributed persistent coverage control and performance evaluation of multi-agent system

Part of: 31st Congress of The International Council of the Aeronautical Sciences (ICAS)

Published online by Cambridge University Press:  03 May 2019

S. Lee Open the ORCID record for S. Lee [Opens in a new window]  and
Y. Kim Open the ORCID record for Y. Kim [Opens in a new window]
S. Lee*
Affiliation:
Seoul National University, Department of Mechanical and Aerospace Engineering, Institute of Advanced Aerospace Technology, Seoul, Republic of Korea
Y. Kim*
Affiliation:
Seoul National University, Department of Mechanical and Aerospace Engineering, Institute of Advanced Aerospace Technology, Seoul, Republic of Korea
*
lsw7169@snu.ac.kr
ydkim@snu.ac.kr
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Abstract

The persistent coverage control problem is formulated based on cell discretisation of two-dimensional mission space and time-increasing cell ages. A new performance function is defined to represent the coverage level of the mission space, and time behaviour is evaluated by the probabilistic method based on the detection model of agents. For comparison, persistent coverage controllers are designed by a target-based approach and a reactive approach. Both controllers are designed in a distributed manner using Voronoi tessellation and Delaunay graph-based local information sharing. Numerical simulation is performed to analyse the evaluated mean age of cells and evaluated coverage level over time for the designed persistent coverage controllers. The differences between the evaluation model and simulation situation are discussed.

Keywords

Coverage controlMulti-agent systemDistributed systemPerformance evaluation
Type
Research Article
Information
The Aeronautical Journal , Volume 123 , Issue 1268 , October 2019 , pp. 1701 - 1723
Copyright
© Royal Aeronautical Society 2019 

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Footnotes

A version of this paper first appeared at the 2018 ICAS International Conference on Aeronautical Sciences, Bela Horizonte, Brazil.

References

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