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

Minh Tri Nguyen 1 Cristina Stoica Maniu 1 Sorin Olaru 1, 2
2 DISCO - Dynamical Interconnected Systems in COmplex Environments
L2S - Laboratoire des signaux et systèmes, Inria Saclay - Ile de France, SUPELEC, CNRS - Centre National de la Recherche Scientifique : UMR8506
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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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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