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    Coverage Control of Unicycle Agents under Constant Speed Constraints

    Access Status
    Open access via publisher
    Authors
    Liu, Q.
    Ye, Mengbin
    Sun, Z.
    Qin, J.
    Yu, C.
    Date
    2017
    Type
    Journal Article
    
    Metadata
    Show full item record
    Citation
    Liu, Q. and Ye, M. and Sun, Z. and Qin, J. and Yu, C. 2017. Coverage Control of Unicycle Agents under Constant Speed Constraints. IFAC-PapersOnLine. 50 (1): pp. 2471-2476.
    Source Title
    IFAC-PapersOnLine
    DOI
    10.1016/j.ifacol.2017.08.412
    Faculty
    Faculty of Science and Engineering
    School
    School of Elec Eng, Comp and Math Sci (EECMS)
    Remarks

    The Copyright of articles submitted to IFAC before October 1, 2019, belongs to IFAC. The full text of these articles is publicly available on ScienceDirect. Refer to DOI for access to full text

    URI
    http://hdl.handle.net/20.500.11937/84360
    Collection
    • Curtin Research Publications
    Abstract

    This paper studies the problem of optimal coverage control over a convex bounded region by a group of unicycle-type mobile agents with constant speeds. We further assume that the constant speeds for different agents may be non-identical. Thus, a unicycle is controlled solely via steering of its orientation in which a virtual centre is defined for each unicycle. A basic controller is proposed which asymptotically drive the virtual centres to a Centroidal Voronoi configuration, thus achieving the optimal coverage objective. At the Centroidal Voronoi configuration, each unicycle executes steady-state circular orbit about its virtual centre. To overcome a drawback of the basic controller that requires a careful selection of initial conditions, a modified switching controller is proposed which achieves a Centroidal Voronoi configuration for arbitrarily chosen initial conditions. Simulations for both the basic and modified controllers are presented for a five-unicycle group.

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