Adaptive Coverage Control with Guaranteed Power Voronoi Diagrams

Turanli M., Temeltaş H.

4th International Conference on Systems and Informatics (ICSAI), Hangzhou, Çin, 11 - 13 Kasım 2017, ss.7-13 identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Basıldığı Şehir: Hangzhou
  • Basıldığı Ülke: Çin
  • Sayfa Sayıları: ss.7-13
  • Anahtar Kelimeler: adaptive coordination, coverage control, guaranteed power voronoi diagrams
  • İstanbul Teknik Üniversitesi Adresli: Evet

Özet

In this paper, we present a new Voronoi partitioning concept for coordination of the mobile agents which takes imprecision in localization into account. By using the Guaranteed Power Voronoi Diagrams (GPVD), the regions assigned to the agents can be changed by using the weights of the cells as in Power Voronoi Diagrams. Also, the proposed adaptive coordination algorithm is based on adaptive coverage control and GPVDs. The Lyapunov-type stability proof of the algorithm is presented with simulation results.