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Multi-agent coverage control design with dynamic sensing regions

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Abstract

A cooperative region reconnaissance problem is considered in this paper where a group of agents are required to reconnoitre a region of interest. A main challenge of this problem is the sensing region of each agent varies with its altitude within an altitude constraint. Meanwhile, the reconnaissance ability of an agent is determined by its altitude and radial distance. First, the region reconnaissance is formulated as an effective coverage problem, which means that each point in the given region should be surveyed until a preset level is achieved. Then, an effective coverage control law is proposed to minimize coverage performance index by adjusting the altitude of an agent. Finally, the effectiveness of the proposed control law is verified through numerical simulations.

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Authors and Affiliations

  1. Control and Simulation Center, Harbin Institute of Technology, Harbin, Heilongjiang, 150080, China

    Longbiao Ma, Fenghua He, Long Wang & Yu Yao

Authors
  1. Longbiao Ma
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  2. Fenghua He
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  3. Long Wang
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  4. Yu Yao
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Corresponding author

Correspondence to Longbiao Ma.

Additional information

This research work was partially supported by the National Natural Science Foundation of China (Nos. 61473099, 61333001).

Longbiao Ma received the B.Sc. and M.Sc. degrees from Northeastern University, Shenyang in 2011 and 2013, respectively. Currently, he is a Ph.D. candidate at Harbin Institute of Technology. His research interests include coverage control of multi-agent systems.

Fenghua He received the Ph.D. degree from the Harbin Institute of Technology, Harbin, China, in 2005. She is a Professor with the Control and Simulation Center, Harbin Institute of Technology. Her current research interest covers guidance and control of flight vehicles, cooperative control, and game theory.

Long Wang received the B.Sc. and M.Sc. degrees from Harbin Institute of Technology, Harbin in 2011 and 2013, respectively. Currently, he is a Ph.D. candidate at Harbin Institute of Technology. His research interests include cooperative control of multiaircraft.

Yu Yao received his B.Sc., M.Sc. and Ph.D. degrees in Automatic Control, 1983, 1986 and 1990, respectively, all from Harbin Institute of Technology, China. He is currently a professor in School of Astronautics in Harbin Institute of Technology, China. His research interests include robust control, nonlinear systems and flight control.

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Ma, L., He, F., Wang, L. et al. Multi-agent coverage control design with dynamic sensing regions. Control Theory Technol. 16, 161–172 (2018). https://doi.org/10.1007/s11768-018-8079-0

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  • DOI: https://doi.org/10.1007/s11768-018-8079-0

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