Jorge Cortés
Professor
Cymer Corporation Endowed Chair
Distributed multi-agent deployment for full visibility of 1.5D and 2.5D polyhedral terrains
A. Ma, J. Cortés
Journal of Intelligent and Robotic Systems 100 (3-4) (2020), 1111-1127
Abstract
This paper presents deployment strategies to achieve
full visibility of 1.5D and 2.5D polyhedral
environments for a team of mobile robots. Agents
may only communicate if they are within
line-of-sight. In 1.5D polyhedral terrains, we
achieve this by algorithmically determining a set of
locations that the robots can occupy in a
distributed fashion. We characterize the time of
completion of the resulting algorithm, which is
dependent on the number of peaks and the initial
condition. In 2.5D polyhedral terrains, we achieve
full visibility by asynchronously deploying groups
of agents who utilize graph coloring and may start
from differential initial conditions. We
characterize the total number of agents needed for
deployment as a function of the environment
properties, and allow the algorithm to activate
additional agents if necessary. We provide lower
and upper bounds for the time of completion as a
function of the number of vertices in a planar graph
representing the environment. We illustrate our
results in simulation and an implementation on a
multi-agent robotics platform.
pdf
Mechanical and Aerospace Engineering,
University of California, San Diego
9500 Gilman Dr,
La Jolla, California, 92093-0411
Ph: 1-858-822-7930
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cortes at ucsd.edu
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