Communication-free distributed coverage for networked systems

A. Yasin Yazicioglu, Magnus Egerstedt, Jeff S. Shamma

Research output: Contribution to journalArticlepeer-review

8 Scopus citations

Abstract

In this paper, we present a communication-free algorithm for the distributed coverage of an arbitrary network by a group of mobile agents with local sensing capabilities. The network is represented as a graph, and the agents are arbitrarily deployed on some nodes of the graph. Any node of the graph is covered if it is within the sensing range of at least one agent. The agents are mobile devices that aim to explore the graph and to optimize their locations in a decentralized fashion by relying only on their sensory inputs. We formulate this problem in a game-theoretic setting and propose a communication-free learning algorithm to maximize the coverage.

Original languageEnglish (US)
Article number7383274
Pages (from-to)499-510
Number of pages12
JournalIEEE Transactions on Control of Network Systems
Volume4
Issue number3
DOIs
StatePublished - Sep 2017

Bibliographical note

Funding Information:
Manuscript received November 10, 2015; accepted December 26, 2015. Date of publication January 14, 2016; date of current version September 15, 2017. This work was supported by ONR project under Grant N00014-09-1-0751. Recommended by Editor-in-Chief I. Paschalidis.

Keywords

  • Decentralized control
  • game theory
  • learning
  • multiagent systems

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