Decentralized Adaptive Coverage Control of Nonholonomic Mobile Robots

Rihab A. Razak, Srikant Sukumar, Hoam Chung

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

5 Citations (Scopus)

Abstract

This paper proposes an algorithm for decentralized adaptive control for coverage of a given convex region using multiple agents with double integrator dynamics. The result is then extended to nonholonomic mobile robots. The density function which describes the event of interest to be sensed by the agents is assumed to be unknown and an adaptation law is derived which can learn the sensory function with time. This work is an extension of the work by Schwager et al. (2007) for mobile sensors with single integrator dynamics. We propose an algorithm which ensures convergence to a near optimal configuration and demonstrate the same using simulations.

Original languageEnglish
Title of host publication10th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2016
Subtitle of host publicationMonterey, California, USA, 23—25 August 2016
EditorsAndrew Teal
Place of PublicationNetherlands
PublisherIFAC, International Federation of Automatic Control
Pages410-415
Number of pages6
DOIs
Publication statusPublished - 2016
EventIFAC Symposium on Nonlinear Control Systems - Monterey, United States of America
Duration: 23 Aug 201625 Aug 2016
Conference number: 10th

Publication series

NameIFAC-PapersOnLine
PublisherElsevier
Number18
Volume49
ISSN (Electronic)2405-8963

Conference

ConferenceIFAC Symposium on Nonlinear Control Systems
Abbreviated titleNOLCOS 2016
CountryUnited States of America
CityMonterey
Period23/08/1625/08/16

Keywords

  • adaptive control
  • coverage control
  • decentralized control
  • multi-agent

Cite this

Razak, R. A., Sukumar, S., & Chung, H. (2016). Decentralized Adaptive Coverage Control of Nonholonomic Mobile Robots. In A. Teal (Ed.), 10th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2016: Monterey, California, USA, 23—25 August 2016 (pp. 410-415). (IFAC-PapersOnLine; Vol. 49, No. 18). IFAC, International Federation of Automatic Control. https://doi.org/10.1016/j.ifacol.2016.10.200