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- Distributed coverage control with mobile robots: A potential game approach
Distributed coverage control with mobile robots: A potential game approach
Authors : Samet Güler
Pages : 1271-1281
Doi:10.28948/ngumuh.1293191
View : 35 | Download : 63
Publication Date : 2023-10-15
Article Type : Research
Abstract :The use of mobile robots in industrial applications has led to a demand for autonomous multi-robot systems with robust and distributed algorithms. A critical objective in such systems is coverage control, where a team of mobile robots need to respond to spatiotemporal events in a bounded region. Here, we address a specific coverage problem, where a group of mobile robots are tasked with responding to events by covering specific locations on two sides of a linear workstation. We formulate the problem as a game played by the mobile robots with well-designed player strategies, and we demonstrate that the resulting framework is a potential game based on equally shared utilities among the robots. The proposed framework is distributed and decentralized, allowing for anonymous identities and constrained sensing capabilities in the robots. A set of simulation studies verify our approach.Keywords : Kapsama kontrolü, Çoklu-robot sistemleri, Öğrenme algoritmaları