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Optimization-based control for Multi-Agent deployment via dynamic Voronoi partition

Abstract : This paper presents a novel decentralized control law for the Voronoi-based deployment of a Multi-Agent dynamical system. At each time instant, a bounded convex polyhedral working region is partitioned using a Voronoi algorithm providing the agents with non-overlapping functioning zones. The agents' deployment objective is to drive the entire system into a stable static configuration which corresponds to a stationary maximal coverage.This goal is achieved by using local stabilizing feedback control ensuring the convergence of each agent towards a centroid of its associated functioning zone. The proposed approach considers the Chebyshev center as centroidal point of each Voronoi cell.
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Contributor : Cristina Stoica Maniu <>
Submitted on : Friday, July 21, 2017 - 9:22:31 AM
Last modification on : Wednesday, April 8, 2020 - 6:28:02 PM


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  • HAL Id : hal-01562834, version 1


Minh Tri Nguyen, Cristina Stoica Maniu, Sorin Olaru. Optimization-based control for Multi-Agent deployment via dynamic Voronoi partition. IFAC 2017 - 20th World Congress of the International Federation of Automatic Control, Jul 2017, Toulouse, France. pp.1864-1869. ⟨hal-01562834⟩



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