Optimization-based control for Multi-Agent deployment via dynamic Voronoi partition. Issue 1 (July 2017)

• Record Type: Journal Article
• Authors: Nguyen, M.T.; Maniu, C. Stoica; Olaru, S.
• Is Part Of: IFAC-PapersOnLine. Volume 50:Issue 1(2017)
• Page Start: 1828
• Page End: 1833
• Publication Date: 2017-07
• Subjects: Multi-Agent dynamical systems -- set-theoretic tools -- dynamic Voronoi partition; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2017.08.185
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: This paper presents a novel decentralized control law for the Voronoi-based deployment of a Multi-Agent dynamical system. At each time instant, a bounded convex polyhedral working region is partitioned using a Voronoi algorithm providing the agents with non-overlapping functioning zones. The agents' deployment objective is to drive the entire system into a stable static configuration which corresponds to a stationary maximal coverage. This goal is achieved by using local stabilizing feedback control ensuring the convergence of each agent towards a centroid of its associated functioning zone. The proposed approach considers the Chebyshev center as centroidal point of each Voronoi cell.