Distributed optimal coverage control in multi-agent systems: Known and unknown environments
<p>This paper introduces a novel approach to solve the coverage optimization problem in multi-agent systems. The proposed technique offers an optimal solution with a lower cost with respect to conventional Voronoi-based techniques by effectively handling the issue of agents remaining stationar...
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2024
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| _version_ | 1864513513452470272 |
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| author | Mohammadhasan Faghihi (22303057) |
| author2 | Meysam Yadegar (16410089) Mohammadhosein Bakhtiaridoust (16410088) Nader Meskin (14147796) Javad Sharifi (22303060) Peng Shi (132534) |
| author2_role | author author author author author |
| author_facet | Mohammadhasan Faghihi (22303057) Meysam Yadegar (16410089) Mohammadhosein Bakhtiaridoust (16410088) Nader Meskin (14147796) Javad Sharifi (22303060) Peng Shi (132534) |
| author_role | author |
| dc.creator.none.fl_str_mv | Mohammadhasan Faghihi (22303057) Meysam Yadegar (16410089) Mohammadhosein Bakhtiaridoust (16410088) Nader Meskin (14147796) Javad Sharifi (22303060) Peng Shi (132534) |
| dc.date.none.fl_str_mv | 2024-12-12T18:00:00Z |
| dc.identifier.none.fl_str_mv | 10.1016/j.automatica.2024.112031 |
| dc.relation.none.fl_str_mv | https://figshare.com/articles/journal_contribution/Distributed_optimal_coverage_control_in_multi-agent_systems_Known_and_unknown_environments/30197491 |
| dc.rights.none.fl_str_mv | CC BY 4.0 info:eu-repo/semantics/openAccess |
| dc.subject.none.fl_str_mv | Engineering Control engineering, mechatronics and robotics Information and computing sciences Distributed computing and systems software Informative coverage Density function Voronoi algorithm Multi-agent Known–unknown environment |
| dc.title.none.fl_str_mv | Distributed optimal coverage control in multi-agent systems: Known and unknown environments |
| dc.type.none.fl_str_mv | Text Journal contribution info:eu-repo/semantics/publishedVersion text contribution to journal |
| description | <p>This paper introduces a novel approach to solve the coverage optimization problem in multi-agent systems. The proposed technique offers an optimal solution with a lower cost with respect to conventional Voronoi-based techniques by effectively handling the issue of agents remaining stationary in regions void of information using a ranking function. The proposed approach leverages a novel cost function for optimizing the agents’ coverage and the cost function eventually aligns with the conventional Voronoi-based cost function. Theoretical analyses are conducted to assure the asymptotic convergence of agents toward an optimal configuration. A distinguishing feature of this approach lies in its departure from the reliance on geometric methods that are characteristic of Voronoi-based approaches; hence it can be implemented more simply. Remarkably, the technique is adaptive and applicable to various environments with both known and unknown information distributions. Lastly, the efficacy of the proposed method is demonstrated through simulations, and the obtained results are compared with those of Voronoi-based algorithms.</p><h2>Other Information</h2> <p> Published in: Automatica<br> License: <a href="http://creativecommons.org/licenses/by/4.0/" target="_blank">http://creativecommons.org/licenses/by/4.0/</a><br>See article on publisher's website: <a href="https://dx.doi.org/10.1016/j.automatica.2024.112031" target="_blank">https://dx.doi.org/10.1016/j.automatica.2024.112031</a></p> |
| eu_rights_str_mv | openAccess |
| id | Manara2_cd70a6d8316492d26e8699e42112395c |
| identifier_str_mv | 10.1016/j.automatica.2024.112031 |
| network_acronym_str | Manara2 |
| network_name_str | Manara2 |
| oai_identifier_str | oai:figshare.com:article/30197491 |
| publishDate | 2024 |
| repository.mail.fl_str_mv | |
| repository.name.fl_str_mv | |
| repository_id_str | |
| rights_invalid_str_mv | CC BY 4.0 |
| spelling | Distributed optimal coverage control in multi-agent systems: Known and unknown environmentsMohammadhasan Faghihi (22303057)Meysam Yadegar (16410089)Mohammadhosein Bakhtiaridoust (16410088)Nader Meskin (14147796)Javad Sharifi (22303060)Peng Shi (132534)EngineeringControl engineering, mechatronics and roboticsInformation and computing sciencesDistributed computing and systems softwareInformative coverageDensity functionVoronoi algorithmMulti-agentKnown–unknown environment<p>This paper introduces a novel approach to solve the coverage optimization problem in multi-agent systems. The proposed technique offers an optimal solution with a lower cost with respect to conventional Voronoi-based techniques by effectively handling the issue of agents remaining stationary in regions void of information using a ranking function. The proposed approach leverages a novel cost function for optimizing the agents’ coverage and the cost function eventually aligns with the conventional Voronoi-based cost function. Theoretical analyses are conducted to assure the asymptotic convergence of agents toward an optimal configuration. A distinguishing feature of this approach lies in its departure from the reliance on geometric methods that are characteristic of Voronoi-based approaches; hence it can be implemented more simply. Remarkably, the technique is adaptive and applicable to various environments with both known and unknown information distributions. Lastly, the efficacy of the proposed method is demonstrated through simulations, and the obtained results are compared with those of Voronoi-based algorithms.</p><h2>Other Information</h2> <p> Published in: Automatica<br> License: <a href="http://creativecommons.org/licenses/by/4.0/" target="_blank">http://creativecommons.org/licenses/by/4.0/</a><br>See article on publisher's website: <a href="https://dx.doi.org/10.1016/j.automatica.2024.112031" target="_blank">https://dx.doi.org/10.1016/j.automatica.2024.112031</a></p>2024-12-12T18:00:00ZTextJournal contributioninfo:eu-repo/semantics/publishedVersiontextcontribution to journal10.1016/j.automatica.2024.112031https://figshare.com/articles/journal_contribution/Distributed_optimal_coverage_control_in_multi-agent_systems_Known_and_unknown_environments/30197491CC BY 4.0info:eu-repo/semantics/openAccessoai:figshare.com:article/301974912024-12-12T18:00:00Z |
| spellingShingle | Distributed optimal coverage control in multi-agent systems: Known and unknown environments Mohammadhasan Faghihi (22303057) Engineering Control engineering, mechatronics and robotics Information and computing sciences Distributed computing and systems software Informative coverage Density function Voronoi algorithm Multi-agent Known–unknown environment |
| status_str | publishedVersion |
| title | Distributed optimal coverage control in multi-agent systems: Known and unknown environments |
| title_full | Distributed optimal coverage control in multi-agent systems: Known and unknown environments |
| title_fullStr | Distributed optimal coverage control in multi-agent systems: Known and unknown environments |
| title_full_unstemmed | Distributed optimal coverage control in multi-agent systems: Known and unknown environments |
| title_short | Distributed optimal coverage control in multi-agent systems: Known and unknown environments |
| title_sort | Distributed optimal coverage control in multi-agent systems: Known and unknown environments |
| topic | Engineering Control engineering, mechatronics and robotics Information and computing sciences Distributed computing and systems software Informative coverage Density function Voronoi algorithm Multi-agent Known–unknown environment |