Performance of a class of multi-robot deploy and search strategies based on centroidal Voronoi configurations

DOI10.1080/00207721.2011.618327MaRDI QIDQ2858034zbMATH OpenOpenAlexFDO

Authors K. R. Guruprasad, Debasish Ghose

Publication date 19 November 2013

Published in International Journal of Systems Science (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/0908.1485

zbMATH Keywords

multi-agent systemsnonlinear systemscooperative controlVoronoi partitioncentroidal Voronoi configurationmulti-robot search

Mathematics Subject Classification ID

Problem solving in the context of artificial intelligence (heuristics, search strategies, etc.) (68T20) Automated systems (robots, etc.) in control theory (93C85)

Abstract: This paper considers a class of deploy and search strategies for multi-robot systems and evaluates their performance. The application framework used is a system of autonomous mobile robots equipped with required sensors and communication equipment deployed in a search space to gather information. The lack of information about the search space is modeled as an uncertainty density distribution over the search space. A {em combined deploy and search} (CDS) strategy has been formulated as a modification to {em sequential deploy and search} (SDS) strategy presented in our previous work. The optimal deployment strategy using Voronoi partition forms the basis for these two search strategies. The strategies are analyzed in presence of constraints on robot speed and limit on sensor range for convergence of trajectories with corresponding control laws responsible for the motion of robots. SDS and CDS strategies are compared with standard greedy and random search strategies on the basis of time taken to achieve reduction in the uncertainty density below a desired level. The simulation experiments reveal several important issues related to the dependence of the relative performances of the strategies on parameters such as number of robots, speed of robots, and their sensor range limits.

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(7)

• Engineering the development of systems for multisensory monitoring and activity interpretation
• scientific article; zbMATH DE number 1954195 (Why is no real title available?)
• Multi-robot social group-based search algorithms
• Multiagent coverage search based on Voronoi and sparse heteroscedastic Gaussian process
• Heterogeneous locational optimisation using a generalised Voronoi partition
• Effectiveness-based Voronoi partition: a new tool for solving a class of location optimization problems
• Distributed formation control of fractional-order multi-agent systems with absolute damping and communication delay

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