论文标题
在非凸环境中具有负载平衡的多代理系统的分布式覆盖范围控制
Distributed Coverage Control of Multi-Agent Systems with Load Balancing in Non-convex Environments
论文作者
论文摘要
在非凸面和不确定环境中为突然事件服务始终是一项具有挑战性的任务，多代理覆盖范围控制提供了一个强大的理论框架，以调查移动机器人网络的部署问题，以最大程度地减少处理随机事件的成本。受划分和诱因方法的启发，本文提出了一种新型的覆盖范围，以控制非凸区域中的多代理系统，同时均衡子区域之间的工作量。因此，分布式覆盖范围控制器旨在将每个代理驱动到所需的配置，从而通过与旋转分区策略集成来最大程度地减少服务成本。此外，提出了循环搜索算法，以确定降低服务成本问题的最佳解决方案。此外，证明该搜索算法使具有任意小公差的多代理系统的最佳配置近似。最后，实施数值模拟以证实拟议的覆盖范围控制方法的功效。
It is always a challenging task to service sudden events in non-convex and uncertain environments, and multi-agent coverage control provides a powerful theoretical framework to investigate the deployment problem of mobile robotic networks for minimizing the cost of handling random events. Inspired by the divide-and-conquer methodology, this paper proposes a novel coverage formulation to control multi-agent systems in the non-convex region while equalizing the workload among subregions. Thereby, a distributed coverage controller is designed to drive each agent towards the desired configurations that minimize the service cost by integrating with the rotational partition strategy. In addition, a circular search algorithm is proposed to identify optimal solutions to the problem of lowering service cost. Moreover, it is proved that this search algorithm enables to approximate the optimal configuration of multi-agent systems with the arbitrary small tolerance. Finally, numerical simulations are implemented to substantiate the efficacy of proposed coverage control approach.
