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arXiv · 2306.05187

Safe Adaptive Multi-Agent Coverage Control

Yang Bai·Yujie Wang·Xiaogang Xiong·Mikhail Svinin
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Abstract

This paper presents a safe adaptive coverage controller for multi-agent systems with actuator faults and time-varying uncertainties. The centroidal Voronoi tessellation (CVT) is applied to generate an optimal configuration of multi-agent systems for covering an area of interest. As a conventional CVT-based controller cannot prevent collisions between agents with non-zero size, a control barrier function (CBF) based controller is developed to ensure collision avoidance with a function approximation technique (FAT) based design to deal with system uncertainties. The proposed controller is verified under simulations.

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Yang Bai, Yujie Wang, Xiaogang Xiong, Mikhail Svinin. 2023-06-08. Safe Adaptive Multi-Agent Coverage Control. https://arxiv.org/abs/2306.05187

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