Multirobot Control Using Time-Varying Density Functions
Sung G. Lee, Yancy J. Diaz-Mercado, Magnus Egerstedt · IEEE Transactions on Robotics · 2015
An approach is presented for influencing teams of robots by means of time-varying density functions, representing rough references for where the robots should be located. A continuous-time coverage algorithm is proposed and distributed approximations are given whereby the robots only need to access information from adjacent robots. Robotic experiments show that the proposed algorithms work in practice, as well as in theory.