English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

Decentralized control of robots has attracted huge research interests.However, some of the research used unrealistic assumptions without collisionavoidance. This report focuses on the collision-free control for multiplerobots in both complete coverage and search tasks in 2D and 3D areas which arearbitrary unknown. All algorithms are decentralized as robots have limitedabilities and they are mathematically proved.  The report starts with the grid selection in the two tasks. Grid patternssimplify the representation of the area and robots only need to move straightlybetween neighbor vertices. For the 100% complete 2D coverage, the equilateraltriangular grid is proposed. For the complete coverage ignoring the boundaryeffect, the grid with the fewest vertices is calculated in every situation forboth 2D and 3D areas.  The second part is for the complete coverage in 2D and 3D areas. Adecentralized collision-free algorithm with the above selected grid ispresented driving robots to sections which are furthest from the referencepoint. The area can be static or expanding, and the algorithm is simulated inMATLAB.  Thirdly, three grid-based decentralized random algorithms with collisionavoidance are provided to search targets in 2D or 3D areas. The number oftargets can be known or unknown. In the first algorithm, robots choose vacantneighbors randomly with priorities on unvisited ones while the second one addsthe repulsive force to disperse robots if they are close. In the thirdalgorithm, if surrounded by visited vertices, the robot will use thebreadth-first search algorithm to go to one of the nearest unvisited verticesvia the grid. The second search algorithm is verified on Pioneer 3-DX robots.The general way to generate the formula to estimate the search time isdemonstrated. Algorithms are compared with five other algorithms in MATLAB toshow their effectiveness.

Decentralized Collision-Free Control of Multiple Robots in 2D and 3D Spaces