Comparison of Centralized and Decentralized Approaches in Cooperative Coverage Problems with Energy-Constrained Agents
Comparison of Centralized and Decentralized Approaches in Cooperative Coverage Problems with Energy-Constrained Agents
复制标题
能量受限智能体合作覆盖问题中集中式和分散式方法的比较
DOI：
10.1109/cdc42340.2020.9304270
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发表时间：
2020
期刊：
影响因子：
--
通讯作者：
Xu, Kaiyuan
中科院分区：
文献类型：
--
作者：
Meng, Xiangyu;Sun, Xinmiao;Cassandras, Christos G.;Xu, Kaiyuan
研究了能量受限的多智能体覆盖问题。本文的目的是比较集中式和分散式两种方法的覆盖性能。为此，提出了一种能量耗尽和耗尽约束下的近最优集中式覆盖控制方法。最优覆盖形成对应于覆盖性能最大化的代理的位置。最优充电形式对应于代理的位置，其中一个代理固定在充电站，其余代理最大化覆盖性能。我们通过在最优覆盖形成和最优充电形成之间切换来控制该协作多智能体系统的行为。最后，确定覆盖位置处的最佳驻留时间、充电时间和代理轨迹，以便在给定时间间隔内最大化覆盖。特别是，我们的控制员保证在任何时候最多有一个代理人离开团队进行能量回收。
A multi-agent coverage problem is considered with energy-constrained agents. The objective of this paper is to compare the coverage performance between centralized and decentralized approaches. To this end, a near-optimal centralized coverage control method is developed under energy depletion and repletion constraints. The optimal coverage formation corresponds to the locations of agents where the coverage performance is maximized. The optimal charging formation corresponds to the locations of agents with one agent fixed at the charging station and the remaining agents maximizing the coverage performance. We control the behavior of this cooperative multi-agent system by switching between the optimal coverage formation and the optimal charging formation. Finally, the optimal dwell times at coverage locations, charging time, and agent trajectories are determined so as to maximize coverage over a given time interval. In particular, our controller guarantees that at any time there is at most one agent leaving the team for energy repletion.