Jorge Cortés
Professor
Cymer Corporation Endowed Chair
Visibility-based multi-agent deployment in orthogonal environments
A. Ganguli, J. Cortés, F. Bullo
Proceedings of the American Control Conference, New York, USA, pp. 3426-3431
Abstract
This paper presents algorithms for the deployment of mobile agents
with line-of-sight sensing and communication capabilities in simply
connected orthogonal environments. A simply connected orthogonal
environment is a polygon without holes whose sides are either
parallel or perpendicular to each other. The main objective is to
achieve full visibility of the environment. The agents are assumed
to have access to a local memory and their operation is partially
asynchronous. We propose methods based on incrementally partitioning
the environment while deploying the agents. Novel contributions of
this work include the design of distributed algorithms to achieve
the following tasks: (i) complete coverage of simply connected
orthogonal environments; and (ii) complete coverage of simply
connected orthogonal environments such that the final configuration
of agents forms a network connected via line-of-sight. In each case,
we prove the remarkable fact that the number of agents sufficient to
complete the task with the proposed algorithms are identical to the
ones obtained if the entire environment was known a priori. A final
contribution of the paper is the characterization of the robustness
properties of the algorithms to agent failures in the case of
deployment with connectivity constraints.
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Mechanical and Aerospace Engineering,
University of California, San Diego
9500 Gilman Dr,
La Jolla, California, 92093-0411
Ph: 1-858-822-7930
Fax: 1-858-822-3107
cortes at ucsd.edu
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jorgilliyo