Distributed Coverage Control of Constrained Constant-Speed Unicycle Multi-Agent Systems
University of Science and Technology of China（中国科学技术大学）；Eindhoven University of Technology（埃因霍温理工大学）；Technical University of Munich（慕尼黑工业大学）；Ningbo Institute of Intelligent Equipment Technology Company Ltd（宁波智能装备技术研究院有限公司）
This paper proposes a novel distributed coverage controller for a multi-agent system with constant-speed unicycle robots (CSUR). The work is motivated by the limitation of the conventional method that does not ensure the satisfaction of hard state- and input-dependent constraints and leads to feasibility issues for multi-CSUR systems. In this paper, we solve these problems by designing a novel coverage cost function and a saturated gradient-search-based control law. Invariant set theory and Lyapunov-based techniques are used to prove the state-dependent confinement and the convergence of the system state to the optimal coverage configuration, respectively. The controller is implemented in a distributed manner based on a novel communication standard among the agents. A series of simulation case studies are conducted to validate the effectiveness of the proposed coverage controller in different initial conditions and with control parameters. A comparison study in simulation reveals the advantage of the proposed method in terms of avoiding infeasibility. The experiment study verifies the applicability of the method to real robots with uncertainties. The development procedure of the method from theoretical analysis to experimental validation provides a novel framework for multi-agent system coordinate control with complex agent dynamics.
A Relaxed Quadratic-Program-based Framework for Trajectory Tracking of Unicycle Robots with Singularity Avoidance
Department of Mechanical；Industrial Engineering at the New Jersey Institute of Technology (NJIT), NJ, USA；School of Engineering, Infrastructure；Sustainability De Montfort University, Leicester, LE1 9BH, UK
ETH Zürich（苏黎世联邦理工学院）；University of Stuttgart（斯图加特大学）；Gymnasium Burgdorf（堡多夫中学）；Swiss Institute for Empirical Economic Research (SEW), University of St.Gallen（圣加仑大学瑞士实证经济研究所）
