dc.contributor.author | Hatleskog, Johan | |
dc.contributor.author | Olaru, Sorin | |
dc.contributor.author | Hovd, Morten | |
dc.date.accessioned | 2020-07-07T08:40:59Z | |
dc.date.available | 2020-07-07T08:40:59Z | |
dc.date.created | 2019-07-10T14:31:54Z | |
dc.date.issued | 2019 | |
dc.identifier.citation | IEEE Conference on Decision and Control. Proceedings. 2019, 2018-December 5403-5408. | en_US |
dc.identifier.issn | 0743-1546 | |
dc.identifier.uri | https://hdl.handle.net/11250/2660916 | |
dc.description.abstract | This paper considers a decentralized control scheme for Voronoi-based deployment of discrete-time multiagent dynamical systems within multi-dimensional static convex polytopic environments. The deployment objective is to drive the multi-agent system to a static configuration in which coverage of the environment is optimized. To this end, local control laws steer each agent towards a Chebyshev center of its associated time-varying polytopic Voronoi-neighborhood. By introducing a novel time-varying interaction graph, mechanisms enforcing consensus on intra-neighbor distances among subsets of agents are uncovered. Subsequently the interaction graph is exploited to provide both proofs of convergence as well as structural characterizations of static configurations. | en_US |
dc.language.iso | eng | en_US |
dc.publisher | Institute of Electrical and Electronics Engineers (IEEE) | en_US |
dc.title | Voronoi-Based Deployment of Multi-Agent Systems | en_US |
dc.type | Peer reviewed | en_US |
dc.type | Journal article | en_US |
dc.description.version | publishedVersion | en_US |
dc.source.pagenumber | 5403-5408 | en_US |
dc.source.volume | 2018-December | en_US |
dc.source.journal | IEEE Conference on Decision and Control. Proceedings | en_US |
dc.identifier.doi | 10.1109/CDC.2018.8619832 | |
dc.identifier.cristin | 1711124 | |
dc.description.localcode | This article will not be available due to copyright restrictions (c) 2019 by IEEE | en_US |
cristin.unitcode | 194,63,25,0 | |
cristin.unitname | Institutt for teknisk kybernetikk | |
cristin.ispublished | true | |
cristin.fulltext | original | |
cristin.qualitycode | 1 | |