Distributed Finite-time Coverage Control of Multi-quadrotor Systems

Hilton Tnunay (1) , Kaouther Moussa (2) , Ahmad Hably (1) , Nicolas Marchand (1)

1 GIPSA-COPERNIC - GIPSA - COntrol, PErception, Robots, navigation and Intelligent Computing
2 LAMIH - Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201

This paper investigates the distributed coverage control algorithm of robotic sensor networks consisting of multiple quadcopters which guarantees its finite-time convergence. The proposed technique alters the objective function originated from the locational optimisation problem to accommodate the consensus constraint, and solves the problem within a given time limit. The coverage problem is solved by sending angular-rate and thrust commands to the quadcopters. By exploiting the finite-time stability theory, we ensure that the rotational and translational controllers of the quadcopters are finite-time stable, able to be implemented distributedly, and able to collaboratively drive the quadcopters towards the desired position and velocity of the Voronoi centroid independent of their initial states.

Mots clés: Coverage control; finite-time stability; motion control; robotic sensor network; flying robots

Domaines: Automatique / Robotique

Hilton Tnunay, Kaouther Moussa, Ahmad Hably, Nicolas Marchand. Distributed Finite-time Coverage Control of Multi-quadrotor Systems. IECON 2022 - 48th Annual Conference of the IEEE Industrial Electronics Society (IES), Oct 2022, Bruxelles, Belgium. ⟨10.1109/IECON49645.2022.9968761⟩. ⟨hal-03775528⟩