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Self-triggered coordination of robotic networks for optimal deployment
C. Nowzari, J. Cortés
Proceedings of the American Control Conference, San Francisco, California, USA, 2011, pp. 1039-1044
2011 ACC Best Student Paper Award Finalist
2012 O. Hugo Schuck Best Paper Award in the Theory category

Abstract

This paper studies a coverage control problem for multi-vehicle systems where individual agents operate with outdated information about each others' location. Our objective is to understand to what extent this outdated information is still useful and at which point it becomes essential to obtain new, up-to-date information. We propose a self-triggered coordination algorithm based on spatial partitioning techniques with uncertain information and verify its correctness using tools from computational geometry, stability theory, set-valued analysis, and event-based systems.

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