Brief paper: Decentralized adaptive awareness coverage control for multi-agent networks

  • Authors:

  • Cheng Song;Gang Feng;Yuan Fan;Yong Wang

  • Affiliations:

  • Department of Manufacturing Engineering and Engineering Management, City University of Hong Kong, Kowloon, Hong Kong and Department of Automation, University of Science and Technology of China, He ...;Department of Manufacturing Engineering and Engineering Management, City University of Hong Kong, Kowloon, Hong Kong and USTC-CityU Suzhou Joint Advanced Research Centre, Suzhou 215123, China and ...;School of Electrical Engineering and Automation, Anhui University, Hefei 230601, China;Department of Automation, University of Science and Technology of China, Hefei 230026, China and USTC-CityU Suzhou Joint Advanced Research Centre, Suzhou 215123, China

  • Venue:
  • Automatica (Journal of IFAC)
  • Year:
  • 2011

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Abstract

In this paper a novel problem of adaptive awareness coverage is formulated. We model the mission domain using a density function which characterizes the importance of each point and is unknown beforehand. The desired awareness coverage level over the mission domain is defined as a non-decreasing differentiable function of the density distribution. A decentralized adaptive control strategy is developed to accomplish the awareness coverage task and learning task simultaneously. The proposed control law is memoryless and can guarantee the achievement of satisfactory awareness coverage of the mission domain in finite time with the approximation error of the density function converging to zero.