Title:
Controlled Coverage Using Time-Varying Density Functions
Controlled Coverage Using Time-Varying Density Functions
Author(s)
Lee, Sung G.
Egerstedt, Magnus B.
Egerstedt, Magnus B.
Advisor(s)
Editor(s)
Collections
Supplementary to
Permanent Link
Abstract
A new approach for controlling a system of multiple agents by choosing a time-varying
density function is presented, employing optimal coverage ideas. In this approach, we specify a time-
varying density function that represents where it is that want the agents to monitor, and how important
it is for each point to be covered. A new algorithm is presented under which the agents track the
time-varying density function while providing optimal coverage of the density function. Results from
robot implementation show that the proposed algorithm guides the agents well over the chosen density
functions, and that the effectiveness of the coverage is higher than other comparable algorithms
Sponsor
Date Issued
2013-09
Extent
Resource Type
Text
Resource Subtype
Pre-print
Proceedings
Proceedings