Multiagent cooperative coverage control
Independent thesis Advanced level (degree of Master (Two Years)), 20 HE creditsStudent thesis
In this work, the problem of deploying a team of mobile sensing agents to provide coverage of an environment is addressed. We propose a novel distributed algorithm to generate a sequence of waypoints for each agent, based on intermittent communication between the agents. The algorithm is shown to converge to an equilibrium conﬁguration, while a measure of the environment coverage is shown to be monotonically nondecreasing. To fulﬁll the task of moving the agents to the designated waypoints, we develop a non-linear control algorithm based on backstepping, as well as a path planning strategy that uses potential ﬁeld navigation and collision avoidance. All the proposed algorithms are tested in a simulated environment and on real-world aerial robots.
Place, publisher, year, edition, pages
2016. , 63 p.
EES Examensarbete / Master Thesis, TRITA-EE 2016:065
Electrical Engineering, Electronic Engineering, Information Engineering
IdentifiersURN: urn:nbn:se:kth:diva-187712OAI: oai:DiVA.org:kth-187712DiVA: diva2:931263
Johansson, Karl Henrik, Professor