We consider the problem of optimal coverage with area constraints in a mobile multi-agent system. For a planar environment with an associated density function, this problem is equivalent to dividing the environment into optimal subregions such that each agent is responsible for the coverage of its own region. In this paper, we design a continuous-time distributed policy which allows a team of agents to achieve a convex area-constrained partition of a convex workspace. Our work is related to the classic Lloyd algorithm, and makes use of generalized Voronoi diagrams. We also discuss practical implementation for real mobile networks. Simulation methods are presented and discussed.
|Publisher||American Society of Mechanical Engineers (ASME)|
|Conference||ASME 2013 6th Annual Dynamic Systems and Control Conference|
|Period||21/10/13 → 23/10/13|
|Other||21-23 October 2013|