Distributed coverage control with mobile robots: A potential game approach

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Niğde Ömer Halisdemir Üniversitesi Mühendislik Bilimleri Dergisi
Volume:12 Issue:4
Distributed coverage control with mobile robots: A potential game approach

Distributed coverage control with mobile robots: A potential game approach

Pages : 1271-1281

View : 72 | Download : 77

Publication Date : 2023-10-15

Article Type : Research Paper

Abstract :The use of mobile robots in industrial applications has led to a demand for autonomous multi-robot systems with robust and distributed algorithms. A critical objective in such systems is coverage control, where a team of mobile robots need to respond to spatiotemporal events in a bounded region. Here, we address a specific coverage problem, where a group of mobile robots are tasked with responding to events by covering specific locations on two sides of a linear workstation. We formulate the problem as a game played by the mobile robots with well-designed player strategies, and we demonstrate that the resulting framework is a potential game based on equally shared utilities among the robots. The proposed framework is distributed and decentralized, allowing for anonymous identities and constrained sensing capabilities in the robots. A set of simulation studies verify our approach.
Keywords : Kapsama kontrolü, Çoklu robot sistemleri, Öğrenme algoritmaları

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