Journal ArticleDOI
Coverage control for mobile sensing networks
Jorge E. Cortes,Sonia Martinez,Timur Karatas,Francesco Bullo +3 more
- Vol. 20, Iss: 2, pp 243-255
TLDR
In this paper, the authors describe decentralized control laws for the coordination of multiple vehicles performing spatially distributed tasks, which are based on a gradient descent scheme applied to a class of decentralized utility functions that encode optimal coverage and sensing policies.Abstract:
This paper describes decentralized control laws for the coordination of multiple vehicles performing spatially distributed tasks. The control laws are based on a gradient descent scheme applied to a class of decentralized utility functions that encode optimal coverage and sensing policies. These utility functions are studied in geographical optimization problems and they arise naturally in vector quantization and in sensor allocation tasks. The approach exploits the computational geometry of spatial structures such as Voronoi diagrams.read more
Citations
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Journal ArticleDOI
Consensus and Cooperation in Networked Multi-Agent Systems
TL;DR: A theoretical framework for analysis of consensus algorithms for multi-agent networked systems with an emphasis on the role of directed information flow, robustness to changes in network topology due to link/node failures, time-delays, and performance guarantees is provided.
Journal ArticleDOI
Flocking for multi-agent dynamic systems: algorithms and theory
TL;DR: A theoretical framework for design and analysis of distributed flocking algorithms, and shows that migration of flocks can be performed using a peer-to-peer network of agents, i.e., "flocks need no leaders."
Journal ArticleDOI
Stability of multiagent systems with time-dependent communication links
TL;DR: It is observed that more communication does not necessarily lead to faster convergence and may eventually even lead to a loss of convergence, even for the simple models discussed in the present paper.
Journal ArticleDOI
An Overview of Recent Progress in the Study of Distributed Multi-Agent Coordination
TL;DR: In this article, the authors reviewed some main results and progress in distributed multi-agent coordination, focusing on papers published in major control systems and robotics journals since 2006 and proposed several promising research directions along with some open problems that are deemed important for further investigations.
Posted Content
An Overview of Recent Progress in the Study of Distributed Multi-agent Coordination
TL;DR: In this paper, the authors reviewed some main results and progress in distributed multi-agent coordination, focusing on papers published in major control systems and robotics journals since 2006, and proposed several promising research directions along with some open problems that are deemed important for further investigations.
References
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Coordination of groups of mobile autonomous agents using nearest neighbor rules
Ali Jadbabaie,Jie Lin,A.S. Morse +2 more
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Journal ArticleDOI
A robust layered control system for a mobile robot
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