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Self-organizing network will probably be a priority choice for the multi-agent systems because of its good features of configuration, management, optimization and self-healing. In this paper, a swarm intelligence coverage and self-healing method based on the Self-Organizing Network Model (SONM) and potential function is proposed for our multi-agent system. The SNOM is presented with a hierarchical network structure, which mainly includes the link layer design, route establishment and route maintenance. Based on the SNOM, the multi-agent coverage and self-healing control law is devised, and the potential function is designed to realize the collision avoidance, coverage and self-healing control for the multi-agent systems. The proposed approaches are implemented and evaluated by extensive simulations and experiments, and the results confirm that it is feasibility and efficiency in multi-agent coverage and self-healing control.

The Application of the Multi-Agent Coverage and Self-Healing Control Based on a Swarm Intelligence SONM and Potential Function Approach