Timer-Based Coverage Control for Mobile Sensors (2402.18744v3)
Abstract: This work investigates the coverage control problem over a static, compact, and convex workspace and develops a hybrid extension of the continuous-time Lloyd algorithm. Each agent in a multi-agent system (MAS) is equipped with a timer mechanism that generates intermittent measurement and control update events, which may occur asynchronously between agents. Between consecutive event times, as determined by the corresponding timer mechanism, the controller of each agent is held constant. These controllers are shown to drive the configuration of the MAS into a neighborhood of the set of centroidal Voronoi configurations, i.e., the minimizers of the standard locational cost. The combination of continuous-time dynamics with intermittently updated control inputs is modeled as a hybrid system. The coverage objective is posed as a set attractivity problem for hybrid systems, where an invariance-based convergence analysis yields sufficient conditions that ensure maximal solutions of the hybrid system asymptotically converge to a desired set. A brief simulation example is included to showcase the result.
- S. Lloyd, “Least Squares Quantization in PCM,” IEEE Transactions on Information Theory, vol. 28, no. 2, pp. 129–137, 1982.
- J. Cortés, S. Martínez, T. Karatas, and F. Bullo, “Coverage Control for Mobile Sensing Networks,” IEEE Transactions on Robotics and Automation, vol. 20, no. 2, pp. 243–255, 2004.
- Q. Du and M. Emelianenko, “Acceleration Schemes for Computing Centroidal Voronoi Tessellations,” Numerical Linear Algebra with Applications, vol. 13, no. 2-3, pp. 173–192, 2006.
- Q. Du, M. Emelianenko, and L. Ju, “Convergence of the Lloyd Algorithm for Computing Centroidal Voronoi Tessellations,” SIAM Journal on Numerical Analysis, vol. 44, no. 1, pp. 102–119, 2006.
- Q. Du, V. Faber, and M. Gunzburger, “Centroidal Voronoi Tessellations: Applications and Algorithms,” SIAM Review, vol. 41, no. 4, pp. 637–676, 1999.
- M. Santos, Y. Díaz-Mercado, and M. Egerstedt, “Coverage Control for Multirobot Teams With Heterogeneous Sensing Capabilities,” IEEE Robotics and Automation Letters, vol. 3, no. 2, pp. 919–925, 2018.
- M. Santos, S. Mayya, G. Notomista, and M. Egerstedt, “Decentralized Minimum-Energy Coverage Control for Time-Varying Density Functions,” in International Symposium on Multi-Robot and Multi-Agent Systems, 2019, pp. 155–161.
- X. Xu and Y. Díaz-Mercado, “Multi-Agent Control Using Coverage Over Time-Varying Domains,” in Proceedings of American Control Conference, 2020, pp. 2030–2035.
- C. Nowzari and J. Cortés, “Self-Triggered Coordination of Robotic Networks for Optimal Deployment,” Automatica, vol. 48, no. 6, pp. 1077–1087, 2012.
- M. Ajina, D. Tabatabai, and C. Nowzari, “Asynchronous Distributed Event-Triggered Coordination for Multiagent Coverage Control,” IEEE Transactions on Cybernetics, vol. 51, no. 12, pp. 5941–5953, 2021.
- E. J. Rodríguez-Seda, X. Xu, J. M. Olm, A. Dòria-Cerezo, and Y. Díaz-Mercado, “Self-Triggered Coverage Control for Mobile Sensors,” IEEE Transactions on Robotics, vol. 39, no. 1, pp. 223–238, 2023.
- F. M. Zegers, S. Phillips, and W. E. Dixon, “Consensus over Clustered Networks with Asynchronous Inter-Cluster Communication,” in Proceedings of American Control Conference, 2021, pp. 4249–4254.
- C. F. Nino, F. M. Zegers, S. Phillips, and W. E. Dixon, “Consensus over Clustered Networks using Output Feedback and Asynchronous Inter-Cluster Communication,” in Proceedings of American Control Conference, 2023, pp. 4844–4851.
- S. Phillips and R. G. Sanfelice, “Robust Distributed Synchronization of Networked Linear Systems with Intermittent Information,” Automatica, vol. 105, pp. 323–333, 2019.
- F. M. Zegers, P. Deptula, H.-Y. Chen, A. Isaly, and W. E. Dixon, “A Switched Systems Approach to Multiagent System Consensus: A Relay–Explorer Perspective,” IEEE Transactions on Robotics, vol. 39, no. 1, pp. 605–624, 2023.
- D. Shevitz and B. Paden, “Lyapunov Stability Theory of Nonsmooth Systems,” IEEE Transactions on Automatic Control, vol. 39, no. 9, pp. 1910–1914, 1994.
- J. Lu, C. Y. Tang, P. R. Regier, and T. D. Bow, “Gossip Algorithms for Convex Consensus Optimization Over Networks,” IEEE Transactions on Automatic Control, vol. 56, no. 12, pp. 2917–2923, 2011.
- Federico M. Zegers (6 papers)
- Sean Phillips (20 papers)
- Gregory P. Hicks (1 paper)