8,703 research outputs found
Spatially-distributed coverage optimization and control with limited-range interactions
This paper presents coordination algorithms for groups of mobile agents
performing deployment and coverage tasks. As an important modeling constraint,
we assume that each mobile agent has a limited sensing/communication radius.
Based on the geometry of Voronoi partitions and proximity graphs, we analyze a
class of aggregate objective functions and propose coverage algorithms in
continuous and discrete time. These algorithms have convergence guarantees and
are spatially distributed with respect to appropriate proximity graphs.
Numerical simulations illustrate the results.Comment: 31 pages, some figures left out because of size limits. Complete
preprint version available at http://motion.csl.uiuc.ed
Distributed Collision-Free Motion Coordination on a Sphere: A Conic Control Barrier Function Approach
This letter studies a distributed collision avoidance control problem for a group of rigid bodies on a sphere. A rigid body network, consisting of multiple rigid bodies constrained to a spherical surface and an interconnection topology, is first formulated. In this formulation, it is shown that motion coordination on a sphere is equivalent to attitude coordination on the 3-dimensional Special Orthogonal group. Then, an angle-based control barrier function that can handle a geodesic distance constraint on a spherical surface is presented. The proposed control barrier function is then extended to a relative motion case and applied to a collision avoidance problem for a rigid body network operating on a sphere. Each rigid body chooses its control input by solving a distributed optimization problem to achieve a nominal distributed motion coordination strategy while satisfying constraints for collision avoidance. The proposed collision-free motion coordination law is validated via simulation
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