Loading [MathJax]/jax/output/HTML-CSS/config.js
Near optimal swarm deployment using Descriptor Functions | IEEE Conference Publication | IEEE Xplore

Near optimal swarm deployment using Descriptor Functions

Publisher: IEEE

Abstract:

The article describes a novel approach for deployment of a swarm of heterogeneous autonomous vehicles. Each vehicle is treated as the agent of a network, which cooperates...View more

Abstract:

The article describes a novel approach for deployment of a swarm of heterogeneous autonomous vehicles. Each vehicle is treated as the agent of a network, which cooperates in order to cover a given area according to its own capabilities. A general framework is introduced, which aims at providing tools for solving a large class of coordination problems. The capabilities of each agent are modeled with Descriptor Functions; the sum of these functions constitutes the swarm's descriptor. The goal of the swarm is to match a desired descriptor, by minimizing an appropriate cost functional. A control law is proposed, which is capable of driving the agents towards the achievement of the goal. The existence of local minima and of a global minimum is discussed. Theoretical results on the existence of the global minimum are given. The Area Coverage problem is selected as a preliminary test for the algorithm. Simulation results show the effectiveness of the proposed approach.
Date of Conference: 03-07 May 2010
Date Added to IEEE Xplore: 15 July 2010
ISBN Information:
Print ISSN: 1050-4729
Publisher: IEEE
Conference Location: Anchorage, AK, USA

References

References is not available for this document.