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Distributed Positioning of Autonomous Mobile Sensors with Application to Coverage Control
Institute for Systems Theory and Automatic Control, University of Stuttgart.
KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre. KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik.
KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre. KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik.ORCID-id: 0000-0001-9940-5929
2011 (Engelska)Ingår i: Proc. American Control Conference (ACC), IEEE , 2011, s. 4822-4827Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

We consider problems in multi-agent systems where a network of mobile sensors needs to self-organize such that some global objective function is maximized. To deal with the agents' lack of global information we approach the problem in a game-theoretic framework where agents/players are only able to access local measurements of their own local utility functions whose parameters and detailed analytical forms may be unknown. We then propose a distributed and adaptive algorithm, where each agent applies a local extremum seeking feedback adopted to its specific motion dynamics, and prove its global practical stability, implying that the agents asymptotically reach a configuration that is arbitrary close to the globally optimal one. For the stability analysis we introduce a novel methodology based on a Lie bracket trajectory approximation and combine it with a potential game approach. We apply the proposed algorithm to the sensor coverage problem and solve it in a distributed way where the agents do not need any a priori knowledge about the distribution of the events to be detected and about the detection probabilities of the individual agents. The proposed scheme is illustrated through simulations.

Ort, förlag, år, upplaga, sidor
IEEE , 2011. s. 4822-4827
Nyckelord [en]
multi-agent systems, global practical stability, Lie bracket, nonlinear systems, extremum seeking control, Nash equilibrium, potential games, coverage control
Nationell ämneskategori
Datorseende och robotik (autonoma system)
Identifikatorer
URN: urn:nbn:se:kth:diva-47692Scopus ID: 2-s2.0-80053155591ISBN: 978-1-4577-0080-4 (tryckt)OAI: oai:DiVA.org:kth-47692DiVA, id: diva2:456053
Konferens
American Control Conference (ACC), San Francisco, CA, USA
Forskningsfinansiär
TrenOp, Transport Research Environment with Novel PerspectivesICT - The Next Generation
Anmärkning
© 2011 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. QC 20111118Tillgänglig från: 2011-11-18 Skapad: 2011-11-11 Senast uppdaterad: 2018-01-12Bibliografiskt granskad

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Stankovic, Milos S.Johansson, Karl Henrik
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