Abstract
In this paper, we present a decentralised algorithm to form a coverage around a large structure using autonomous sensor agents. Forming a coverage around a structure is defined using a set of objectives. Structures are formally categorised into objects and obstacles, and defined based on the application. We use the notion of a multi-species flocking algorithm for achieving a proper coverage formation. We modify the basic algorithm substantially by introducing a new virtual agent that aids in positioning of the flocking agents along with stability analysis, incorporating a dynamic hierarchy among the flocking agents, and defining novel controls based on shearing and screwing actions to spread the agents uniformly around the structure. Each species of agents is defined and their roles in the algorithm justified. We discuss special cases and challenging scenarios that can potentially hinder smooth implementation of the algorithm and suggest approaches to overcome them. The method is applied to both convex and non-convex objects in 2D, as well as, 3D. Time of convergence and coverage energy are used as metrics to assess the performance of the system and are studied through extensive simulations.
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Nath, S., Baishya, M. & Ghose, D. Decentralised coverage of a large structure using flocking of autonomous agents having a dynamic hierarchy model. Auton Robot 46, 617–643 (2022). https://doi.org/10.1007/s10514-022-10041-0
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DOI: https://doi.org/10.1007/s10514-022-10041-0