Centroidal Area-Constrained Partitioning for Robotic Networks
Centroidal Area-Constrained Partitioning for Robotic Networks
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DOI：
10.1115/dscc2013-3742
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发表时间：
2013-10
期刊：
影响因子：
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通讯作者：
Rushabh Patel;P. Frasca;F. Bullo
中科院分区：
文献类型：
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作者：
Rushabh Patel;P. Frasca;F. Bullo
我们考虑移动多智能体系统中具有区域约束的最佳覆盖问题。对于具有相关密度函数的平面环境，该问题相当于将环境划分为最优子区域，使得每个智能体负责其自身区域的覆盖。在本文中，我们设计了一种连续时间分布式策略，允许代理团队实现凸工作空间的凸区域约束分区。我们的工作与经典的 Lloyd 算法相关，并利用广义 Voronoi 图。我们还讨论了真实移动网络的实际实施。介绍并讨论了仿真方法。版权所有 © 2013 by ASME
We consider the problem of optimal coverage with area-constraints in a mobile multi-agent system. For a planar environment with an associated density function, this problem is equivalent to dividing the environment into optimal subregions such that each agent is responsible for the coverage of its own region. In this paper, we design a continuous-time distributed policy which allows a team of agents to achieve a convex area-constrained partition of a convex workspace. Our work is related to the classic Lloyd algorithm, and makes use of generalized Voronoi diagrams. We also discuss practical implementation for real mobile networks. Simulation methods are presented and discussed.Copyright © 2013 by ASME