速度受限的单机器人分布式事件触发和自触发覆盖控制
Distributed Event- and Self-Triggered Coverage Control with Speed Constrained Unicycle Robots
摘要：
Voronoi覆盖控制是多机器人系统领域中一个特别重要的问题，它考虑了多个自主机器人的网络，其任务是最优地覆盖大面积。这是固定翼无人机（UAV）机群的一项共同任务，在这项工作中，通过具有恒定前进速度约束的单向飞行器模型来描述。我们开发基于事件的控制/通信算法，以放宽对无线通信和控制执行器的资源要求，这是电池驱动或其他能量受限系统的一个重要特征。为了克服事件触发算法需要连续测量系统状态的缺点，我们提出了一种自触发算法来估计下一个触发时间。硬件实验验证了理论结果。
英文摘要：
Voronoi coverage control is a particular problem of importance in the area of multi-robot systems, which considers a network of multiple autonomous robots, tasked with optimally covering a large area. This is a common task for fleets of fixed-wing Unmanned Aerial Vehicles (UAVs), which are described in this work by a unicycle model with constant forward-speed constraints. We develop event-based control/communication algorithms to relax the resource requirements on wireless communication and control actuators, an important feature for battery-driven or otherwise energy-constrained systems. To overcome the drawback that the event-triggered algorithm requires continuous measurement of system states, we propose a self-triggered algorithm to estimate the next triggering time. Hardware experiments illustrate the theoretical results.
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