Distributed Event- and Self-Triggered Coverage Control with Speed Constrained Unicycle Robots

2021/07/30 by Zhou, Yuni, Kong, Lingxuan, Sosnowski, Stefan +2
#FOS: Computer and information sciences #Multiagent Systems (cs.MA) #Robotics (cs.RO)

paper · doi:10.48550/arxiv.2107.14580

Abstract

Voronoi coverage control is a particular problem of importance in the area of multi-robot systems, which considers a network of multiple autonomous robots, tasked with optimally covering a large area. This is a common task for fleets of fixed-wing Unmanned Aerial Vehicles (UAVs), which are described in this work by a unicycle model with constant forward-speed constraints. We develop event-based control/communication algorithms to relax the resource requirements on wireless communication and control actuators, an important feature for battery-driven or otherwise energy-constrained systems. To overcome the drawback that the event-triggered algorithm requires continuous measurement of system states, we propose a self-triggered algorithm to estimate the next triggering time. Hardware experiments illustrate the theoretical results.

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