Work

Obstacle avoidance adaptive coverage control using collective initial excitation

Year: 2025

Type: article

Abstract: This paper introduces the obstacle avoidance adaptive coverage control for the mobile sensor network (MSN). In addition to obstacle avoidance, parameter convergence of the unknown spatial sensory function is guaranteed under the mild excitation condition termed collective initial excitation (C-IE). The proportional-integral (PI) type adaptation enables the multi-agents to achieve convergence and consensus under a less stringent excitation condition than collective persistence of excitation (C-PE). The proposed coverage algorithm is evaluated through simulation.

Source: IFAC-PapersOnLine

DOI: 10.1016/j.ifacol.2025.07.045

Authors: S. Surendhar, Sayan Basu Roy, Shubhendu Bhasin

Institutions: Indian Institute of Technology Delhi, Indraprastha Institute of Information Technology Delhi

Language: English

Topic: Distributed Control Multi-Agent Systems

Subfield: Computer Networks and Communications

Field: Computer Science

Domain: Physical Sciences

Open Access status: diamond

Funder: I-Hub Foundation for Cobotics

Award: G652884675