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

Minh Tri Nguyen (1) , Cristina Stoica Maniu (1) , Sorin Olaru (1, 2)

1 L2S - Laboratoire des signaux et systèmes
2 DISCO - Dynamical Interconnected Systems in COmplex Environments

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.

Mots clés: Multi-Agent dynamical systems; Set-theoretic tools; Dynamic Voronoi partition

Domaines: Automatique / Robotique

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⟩