Decentralized Adaptive Coverage Control of Nonholonomic Mobile Robots

Rihab A. Razak; Srikant Sukumar; Hoam Chung

doi:10.1016/j.ifacol.2016.10.200

Decentralized Adaptive Coverage Control of Nonholonomic Mobile Robots

Rihab A. Razak
, Srikant Sukumar
, Hoam Chung

Mechanical & Aerospace Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Research › peer-review

13 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 language	English
Title of host publication	10th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2016
Subtitle of host publication	Monterey, California, USA, 23—25 August 2016
Editors	Andrew Teal
Place of Publication	Netherlands
Publisher	Elsevier - International Federation of Automatic Control (IFAC)
Pages	410-415
Number of pages	6
DOIs	https://doi.org/10.1016/j.ifacol.2016.10.200
Publication status	Published - 2016
Event	IFAC Symposium on Nonlinear Control Systems 2016 - Monterey, United States of America Duration: 23 Aug 2016 → 25 Aug 2016 Conference number: 10th https://www.sciencedirect.com/journal/ifac-papersonline/vol/49/issue/18 (Proceedings)

Publication series

Name	IFAC-PapersOnLine
Publisher	Elsevier
Number	18
Volume	49
ISSN (Electronic)	2405-8963

Conference

Conference	IFAC Symposium on Nonlinear Control Systems 2016
Abbreviated title	NOLCOS 2016
Country/Territory	United States of America
City	Monterey
Period	23/08/16 → 25/08/16
Internet address	https://www.sciencedirect.com/journal/ifac-papersonline/vol/49/issue/18 (Proceedings)

Keywords

adaptive control
coverage control
decentralized control
multi-agent

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10.1016/j.ifacol.2016.10.200Licence: Unspecified

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). Elsevier - International Federation of Automatic Control (IFAC). https://doi.org/10.1016/j.ifacol.2016.10.200

Razak, Rihab A. ; Sukumar, Srikant ; Chung, Hoam. / Decentralized Adaptive Coverage Control of Nonholonomic Mobile Robots. 10th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2016: Monterey, California, USA, 23—25 August 2016. editor / Andrew Teal. Netherlands : Elsevier - International Federation of Automatic Control (IFAC), 2016. pp. 410-415 (IFAC-PapersOnLine; 18).

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title = "Decentralized Adaptive Coverage Control of Nonholonomic Mobile Robots",

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.",

keywords = "adaptive control, coverage control, decentralized control, multi-agent",

author = "Razak, \{Rihab A.\} and Srikant Sukumar and Hoam Chung",

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publisher = "Elsevier - International Federation of Automatic Control (IFAC)",

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booktitle = "10th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2016",

note = "IFAC Symposium on Nonlinear Control Systems 2016, NOLCOS 2016 ; Conference date: 23-08-2016 Through 25-08-2016",

url = "https://www.sciencedirect.com/journal/ifac-papersonline/vol/49/issue/18",

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Razak, RA, 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. IFAC-PapersOnLine, no. 18, vol. 49, Elsevier - International Federation of Automatic Control (IFAC), Netherlands, pp. 410-415, IFAC Symposium on Nonlinear Control Systems 2016, Monterey, California, United States of America, 23/08/16. https://doi.org/10.1016/j.ifacol.2016.10.200

Decentralized Adaptive Coverage Control of Nonholonomic Mobile Robots. / Razak, Rihab A.; Sukumar, Srikant; Chung, Hoam.
10th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2016: Monterey, California, USA, 23—25 August 2016. ed. / Andrew Teal. Netherlands: Elsevier - International Federation of Automatic Control (IFAC), 2016. p. 410-415 (IFAC-PapersOnLine; Vol. 49, No. 18).

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Research › peer-review

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AU - Chung, Hoam

N1 - Conference code: 10th

PY - 2016

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N2 - 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.

AB - 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.

KW - adaptive control

KW - coverage control

KW - decentralized control

KW - multi-agent

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DO - 10.1016/j.ifacol.2016.10.200

M3 - Conference Paper

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Razak RA, Sukumar S, Chung H. Decentralized Adaptive Coverage Control of Nonholonomic Mobile Robots. In Teal A, editor, 10th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2016: Monterey, California, USA, 23—25 August 2016. Netherlands: Elsevier - International Federation of Automatic Control (IFAC). 2016. p. 410-415. (IFAC-PapersOnLine; 18). doi: 10.1016/j.ifacol.2016.10.200

Decentralized Adaptive Coverage Control of Nonholonomic Mobile Robots

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Keywords

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