Distributed Control Strategy for Layered Barrier Coverage of Multi-Agent Systems in Uncertain Environments

Pengyang Fan; Chao Zhai

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arXiv · 2301.02061

Distributed Control Strategy for Layered Barrier Coverage of Multi-Agent Systems in Uncertain Environments

Pengyang Fan·Chao Zhai

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Abstract

This paper presents a distributed multi-layer ring barrier coverage algorithm. In order to achieve single-layer ring barrier coverage, a distributed single-layer ring barrier coverage algorithm that maximises the probability of monitoring is proposed. Considering the security risks of single-layer barrier coverage, a distributed adjustment mechanism between multiple layers of barriers is designed and combined with the single-layer ring barrier coverage algorithm to propose a distributed multi-layer ring barrier coverage algorithm. Furthermore, we present a theoretical analysis of the proposed algorithm to demonstrate its effectiveness and necessity. Finally, our algorithm is verified by numerical simulation and experiment.

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BibTeX RIS

Pengyang Fan, Chao Zhai. 2023-01-05. Distributed Control Strategy for Layered Barrier Coverage of Multi-Agent Systems in Uncertain Environments. https://arxiv.org/abs/2301.02061

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