A Coverage Strategy with Guaranteed Collision Avoidance in Multi-Agent Systems using Navigation Functions
Farid Sharifi, Hamid Mahboubi, Amir G. Aghdam, Youmin M. Zhang · AIAA Guidance, Navigation, and Control (GNC) Conference · 2013
A distributed navigation-function-based controller is proposed to solve a cooperative multi-agent coverage problem. The field is partitioned to the Voronoi cells first. A control strategy is subsequently proposed to relocate the agents in such a way that a prescribed coverage cost function is minimized while collision and obstacle avoidance are guaranteed. The convergence analysis is provided to show the stability of the network under the proposed control strategy. Simulations demonstrate the effectiveness of the results.