Experimental verification of coverage control of multi‐agent systems with obstacle avoidance
Abstract Multi‐agent systems are a significant and popular area of study in robotics, focusing on efficient and safe coordination among multiple agents. This paper presents algorithms for safe coverage control in multi‐agent systems, addressing key challenges such as coverage control and obstacle av...
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| Format: | Article |
| Language: | English |
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Wiley
2024-12-01
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| Series: | The Journal of Engineering |
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| Online Access: | https://doi.org/10.1049/tje2.70045 |
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| _version_ | 1850119637792980992 |
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| author | Fidelia Chaitra Siri Jie Song Mikhail Svinin |
| author_facet | Fidelia Chaitra Siri Jie Song Mikhail Svinin |
| author_sort | Fidelia Chaitra Siri |
| collection | DOAJ |
| description | Abstract Multi‐agent systems are a significant and popular area of study in robotics, focusing on efficient and safe coordination among multiple agents. This paper presents algorithms for safe coverage control in multi‐agent systems, addressing key challenges such as coverage control and obstacle avoidance. The coverage control problem is tackled using centroidal Voronoi tessellation with a time‐varying density function, which optimally distributes agents based on the spatial density of the area of interest. To ensure collision‐free manoeuvres, a control barrier function based controller is developed for obstacle avoidance. The proposed controller's effectiveness is validated through a custom Python simulator and experimental tests conducted in the robot operating system–Gazebo environment. The results demonstrate the efficacy of the centroidal Voronoi tessellation and control barrier function approaches in achieving both optimal agent distribution and robust obstacle avoidance. |
| format | Article |
| id | doaj-art-994e24028beb4ea0b7a1941f6ad181b9 |
| institution | OA Journals |
| issn | 2051-3305 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | Wiley |
| record_format | Article |
| series | The Journal of Engineering |
| spelling | doaj-art-994e24028beb4ea0b7a1941f6ad181b92025-08-20T02:35:35ZengWileyThe Journal of Engineering2051-33052024-12-01202412n/an/a10.1049/tje2.70045Experimental verification of coverage control of multi‐agent systems with obstacle avoidanceFidelia Chaitra Siri0Jie Song1Mikhail Svinin2Graduate School of Information Science and Engineering Ritsumeikan University Ibaraki Osaka JapanGraduate School of Information Science and Technology Osaka University Suita Osaka JapanGraduate School of Information Science and Engineering Ritsumeikan University Ibaraki Osaka JapanAbstract Multi‐agent systems are a significant and popular area of study in robotics, focusing on efficient and safe coordination among multiple agents. This paper presents algorithms for safe coverage control in multi‐agent systems, addressing key challenges such as coverage control and obstacle avoidance. The coverage control problem is tackled using centroidal Voronoi tessellation with a time‐varying density function, which optimally distributes agents based on the spatial density of the area of interest. To ensure collision‐free manoeuvres, a control barrier function based controller is developed for obstacle avoidance. The proposed controller's effectiveness is validated through a custom Python simulator and experimental tests conducted in the robot operating system–Gazebo environment. The results demonstrate the efficacy of the centroidal Voronoi tessellation and control barrier function approaches in achieving both optimal agent distribution and robust obstacle avoidance.https://doi.org/10.1049/tje2.70045control engineering and roboticsmulti‐agent systemssoftware engineeringverification and testing |
| spellingShingle | Fidelia Chaitra Siri Jie Song Mikhail Svinin Experimental verification of coverage control of multi‐agent systems with obstacle avoidance The Journal of Engineering control engineering and robotics multi‐agent systems software engineering verification and testing |
| title | Experimental verification of coverage control of multi‐agent systems with obstacle avoidance |
| title_full | Experimental verification of coverage control of multi‐agent systems with obstacle avoidance |
| title_fullStr | Experimental verification of coverage control of multi‐agent systems with obstacle avoidance |
| title_full_unstemmed | Experimental verification of coverage control of multi‐agent systems with obstacle avoidance |
| title_short | Experimental verification of coverage control of multi‐agent systems with obstacle avoidance |
| title_sort | experimental verification of coverage control of multi agent systems with obstacle avoidance |
| topic | control engineering and robotics multi‐agent systems software engineering verification and testing |
| url | https://doi.org/10.1049/tje2.70045 |
| work_keys_str_mv | AT fideliachaitrasiri experimentalverificationofcoveragecontrolofmultiagentsystemswithobstacleavoidance AT jiesong experimentalverificationofcoveragecontrolofmultiagentsystemswithobstacleavoidance AT mikhailsvinin experimentalverificationofcoveragecontrolofmultiagentsystemswithobstacleavoidance |