Work

Decentralized Ergodic Control: Distribution-Driven Sensing and Exploration for Multiagent Systems

Year: 2018

Type: article

Abstract: We present a decentralized ergodic control policy for time-varying area coverage problems for multiple agents with nonlinear dynamics. Ergodic control allows us to specify distributions as objectives for area coverage problems for nonlinear robotic systems as a closed-form controller. We derive a variation to the ergodic control policy that can be used with consensus to enable a fully decentralized multiagent control policy. Examples are presented to illustrate the applicability of our method for multiagent terrain mapping as well as target localization. An analysis on ergodic policies as a Nash equilibrium is provided for game theoretic applications.

Source: IEEE Robotics and Automation Letters

DOI: 10.1109/lra.2018.2849588

Authors: Ian Abraham, Todd D. Murphey

Institution: Northwestern University

Language: English

Topic: Distributed Control Multi-Agent Systems

Subfield: Computer Networks and Communications

Field: Computer Science

Domain: Physical Sciences

Open Access status: green

Funder: National Science Foundation

OpenAlex ID: W2807778117

FWCI: 2.478

Cites: 35

Cited by: 47

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