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dc.contributor.authorLiu, Q.
dc.contributor.authorYe, Mengbin
dc.contributor.authorSun, Z.
dc.contributor.authorQin, J.
dc.contributor.authorYu, C.
dc.date.accessioned2021-07-06T12:38:57Z
dc.date.available2021-07-06T12:38:57Z
dc.date.issued2017
dc.identifier.citationLiu, 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.
dc.identifier.urihttp://hdl.handle.net/20.500.11937/84360
dc.identifier.doi10.1016/j.ifacol.2017.08.412
dc.description.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.

dc.titleCoverage Control of Unicycle Agents under Constant Speed Constraints
dc.typeJournal Article
dcterms.source.volume50
dcterms.source.number1
dcterms.source.startPage2471
dcterms.source.endPage2476
dcterms.source.titleIFAC-PapersOnLine
dc.date.updated2021-07-06T12:38:57Z
curtin.note

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

curtin.departmentSchool of Elec Eng, Comp and Math Sci (EECMS)
curtin.accessStatusOpen access via publisher
curtin.facultyFaculty of Science and Engineering
curtin.contributor.orcidYe, Mengbin [0000-0003-1698-0173]
dcterms.source.eissn2405-8963
curtin.contributor.scopusauthoridYe, Mengbin [56203529600]


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