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Multi‐agent deployment for visibility coverage in polygonal environments with holes
Author(s) -
Obermeyer Karl J.,
Ganguli Anurag,
Bullo Francesco
Publication year - 2011
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.1700
Subject(s) - visibility , software deployment , computer science , mathematical proof , distributed computing , convergence (economics) , sight , point (geometry) , line of sight , line (geometry) , real time computing , engineering , mathematics , geography , physics , geometry , astronomy , aerospace engineering , economic growth , economics , operating system , meteorology
This article presents a distributed algorithm for a group of robotic agents with omnidirectional vision to deploy into nonconvex polygonal environments with holes. Agents begin deployment from a common point, possess no prior knowledge of the environment, and operate only under line‐of‐sight sensing and communication. The objective of the deployment is for the agents to achieve full visibility coverage of the environment while maintaining line‐of‐sight connectivity with each other. This is achieved by incrementally partitioning the environment into distinct regions, each completely visible from some agent. Proofs are given of (i) convergence, (ii) upper bounds on the time and number of agents required, and (iii) bounds on the memory and communication complexity. Simulation results and description of robust extensions are also included. Copyright © 2011 John Wiley & Sons, Ltd.