Adaptive Coverage Control for Dynamic Pattern Generation
Issued Date
2022-01-01
Resource Type
Scopus ID
2-s2.0-85135628810
Journal Title
ASCC 2022 - 2022 13th Asian Control Conference, Proceedings
Start Page
1404
End Page
1408
Rights Holder(s)
SCOPUS
Bibliographic Citation
ASCC 2022 - 2022 13th Asian Control Conference, Proceedings (2022) , 1404-1408
Suggested Citation
Fungtammasan K., Bai Y., Svinin M., Matsuno F., Magid E., Suthakorn J. Adaptive Coverage Control for Dynamic Pattern Generation. ASCC 2022 - 2022 13th Asian Control Conference, Proceedings (2022) , 1404-1408. 1408. doi:10.23919/ASCC56756.2022.9828107 Retrieved from: https://repository.li.mahidol.ac.th/handle/123456789/84629
Title
Adaptive Coverage Control for Dynamic Pattern Generation
Author(s)
Other Contributor(s)
Abstract
This paper studies an adaptive coverage control problem for a system of multiple car-like mobile robots. The Centroidal Voronoi Tessellation (CVT) is applied to generate an optimal coverage configuration of the multi-agent system for a dynamic region. A function approximation technique based immersion and invariance (FATII) controller is proposed to drive the system to the generated optimal configuration while ensuring the output constraint. The stability of the proposed FATII controller is established and its validity is tested under experiments.