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Distributed Control Scheme for Online Workload Partition

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Cooperative Coverage Control of Multi-Agent Systems and its Applications

Part of the book series: Studies in Systems, Decision and Control ((SSDC,volume 408 ))

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Abstract

In this chapter, we consider workload partition problems in order to dynamically sweep an uncertain region by multiple mobile agents. A distributed algorithm for mobile agents is designed to yield equal workload in each subregion by partitioning the entire region in real time. Due to the uncertainty in the region, the agents do not have the global environment information. Instead, they have to update their trajectories in real time when they move forward in order to guarantee accurate workload partition and minimize the time to complete the dynamic coverage. With the aid of input-to-state stability, we estimate the partition error for the proposed partition algorithm. Finally, simulation results demonstrate the feasibility of the distributed algorithm.

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Author information

Authors and Affiliations

  1. Department of Automatic Control, School of Automation, China University of Geosciences, Wuhan, China

    Chao Zhai

  2. School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, Hubei, China

    Hai-Tao Zhang

  3. School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore, Singapore

    Gaoxi **ao

Authors
  1. Chao Zhai
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  2. Hai-Tao Zhang
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  3. Gaoxi **ao
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Corresponding author

Correspondence to Chao Zhai .

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Zhai, C., Zhang, HT., **ao, G. (2021). Distributed Control Scheme for Online Workload Partition. In: Cooperative Coverage Control of Multi-Agent Systems and its Applications. Studies in Systems, Decision and Control, vol 408 . Springer, Singapore. https://doi.org/10.1007/978-981-16-7625-3_2

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