Gossip coverage control for robotic networks: dynamical systems on the space of partitions

DOI10.1137/100806370zbMATH Open1253.37089DBLPjournals/siamco/BulloCF12arXiv0903.3642OpenAlexW2089998775WikidataQ90156641 ScholiaQ90156641MaRDI QIDQ2884602FDOQ2884602

Authors: Francesco Bullo, Ruggero Carli, Paolo Frasca 

Publication date: 30 May 2012

Published in: SIAM Journal on Control and Optimization (Search for Journal in Brave)

Abstract: Future applications in environmental monitoring, delivery of services and transportation of goods motivate the study of deployment and partitioning tasks for groups of autonomous mobile agents. These tasks are achieved by recent coverage algorithms, based upon the classic methods by Lloyd. These algorithms however rely upon critical requirements on the communication network: information is exchanged synchronously among all agents and long-range communication is sometimes required. This work proposes novel coverage algorithms that require only gossip communication, i.e., asynchronous, pairwise, and possibly unreliable communication. Which robot pair communicates at any given time may be selected deterministically or randomly. A key innovative idea is describing coverage algorithms for robot deployment and environment partitioning as dynamical systems on a space of partitions. In other words, we study the evolution of the regions assigned to each agent rather than the evolution of the agents' positions. The proposed gossip algorithms are shown to converge to centroidal Voronoi partitions under mild technical conditions.

Full work available at URL: https://arxiv.org/abs/0903.3642

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zbMATH Keywords

cooperative controlgeometric optimizationmultiagent systemscentroidal Voronoi tessellationsLloyd algorithmgossip communication

Mathematics Subject Classification ID

Dynamical systems in control (37N35) Artificial intelligence for robotics (68T40) Distributed algorithms (68W15) Asymptotic stability in control theory (93D20) Nonstandard models in mathematics (03H05)

Cited In (15)

• An improved KF-RBF based estimation algorithm for coverage control with unknown density function
• Distributed nonlinear control of mobile autonomous multi-agents
• Adaptive synchronization of unknown heterogeneous agents: an adaptive virtual model reference approach
• Opinion dynamics on social networks
• Time-optimal coverage control for multiple unicycles in a drift field
• A sub-modular receding horizon solution for mobile multi-agent persistent monitoring
• Sampled-data consensus for multi-agent systems with quantised communication
• Nonuniform coverage and cartograms
• A turnpike property of trajectories of dynamical systems with a Lyapunov function
• Bipartite tracking for Euler-Lagrange systems via prescribed-time hierarchical control based on the matrix-weighted signed digraphs
• Optimal one-dimensional coverage by unreliable sensors
• Coordination and Geometric Optimization via Distributed Dynamical Systems
• Multi-robots Gaussian estimation and coverage control: from client-server to peer-to-peer architectures
• Gossip algorithms for heterogeneous multi-vehicle routing problems
• Distributed randomized algorithms for opinion formation, centrality computation and power systems estimation: a tutorial overview

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