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Coverage control for mobile sensing networks
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TLDR
This paper proposes gradient descent algorithms for a class of utility functions which encode optimal coverage and sensing policies which are adaptive, distributed, asynchronous, and verifiably correct.Abstract:
This paper presents control and coordination algorithms for groups of vehicles. The focus is on autonomous vehicle networks performing distributed sensing tasks where each vehicle plays the role of a mobile tunable sensor. The paper proposes gradient descent algorithms for a class of utility functions which encode optimal coverage and sensing policies. The resulting closed-loop behavior is adaptive, distributed, asynchronous, and verifiably correct.read more
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Broadcast control of multi-agent systems
TL;DR: This paper proposes a broadcast control method, where the achievement degree of the task is broadcasted and the agents alternately perform random walk and deterministic walk, and is proven to asymptotically achieve the task with probability 1.
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Energy-aware coverage control with docking for robot teams
TL;DR: A distributed, energy-aware control policy aimed at enabling persistent surveillance of a specified region of interest by teams of networked robots is formulated by defining a policy that exploits a power-dependent weighting scheme that embeds an agent's trade-off to achieve its coverage mission and to maintain a desired energy reserve to guarantee its own safety.
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Asynchronous Multiagent Primal-Dual Optimization
TL;DR: A framework for asynchronously solving convex optimization problems over networks of agents which are augmented by the presence of a centralized cloud computer using a Tikhonov-regularized primal-dual approach in which the agents update the system's primal variables and the cloud updates its dual variables.
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Multiagent Deployment Over a Source
Nima Ghods,Miroslav Krstic +1 more
TL;DR: This work designs a control algorithm based on a combination of two components inspired by the heat partial differential equation (PDE) and achieves higher vehicle density around the source, and proves that the vehicle density will be highest around the sources.
Proceedings ArticleDOI
Distributed policies for equitable partitioning: Theory and applications
TL;DR: This paper designs distributed and adaptive policies to allow a team of agents to achieve a convex and equitable partition of a conveX workspace and exploits the unique features of Power Diagrams.
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Coordination of groups of mobile autonomous agents using nearest neighbor rules
Ali Jadbabaie,Jie Lin,A.S. Morse +2 more
TL;DR: A theoretical explanation for the observed behavior of the Vicsek model, which proves to be a graphic example of a switched linear system which is stable, but for which there does not exist a common quadratic Lyapunov function.
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