A Distributed Deployment Strategy for Multi-Agent Systems Subject to Health Degradation and Communication Delays

Authors:
Farid Sharifi;Youmin Zhang;Amir G. Aghdam
Affiliations:
Department of Mechanical and Industrial Engineering, Concordia University, Montréal, Canada H3G 1M8;Department of Mechanical and Industrial Engineering, Concordia University, Montréal, Canada H3G 1M8;Department of Electrical and Computer Engineering, Concordia University, Montréal, Canada H3G 1M8
Venue:
Journal of Intelligent and Robotic Systems
Year:
2014

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Abstract

This paper presents a distributed deployment algorithm for a network of autonomous agents. The main goal is to perform a coverage task when the sensor effectiveness of each agent varies during the mission. It is also assumed that the agents are subject to communication delays induced by communication faults. To improve the overall performance and guarantee the collision avoidance, the guaranteed multiplicatively-weighted Voronoi (GMW-Voronoi) diagram is introduced. A distributed coverage control is then provided to drive agents in such a way that the coverage performance function is minimized over the regions assigned to agents. The effectiveness of the proposed algorithm is evaluated by simulations.