Coverage maximization with autonomous agents in fast flow environments

Andrew Kwok and Sonia Martínez
Journal of Optimization Theory and Applications (JOTA), 155 (2) (2012) 986-1007

Abstract:

This work examines the cooperative motion of a network of autonomous vehicles in a fast flow environment. The magnitude of the flow velocity is assumed to be always greater than the available actuation to each agent. Collectively, the agents wish to maximize total coverage area defined as the set of points reachable by any agent within $T$ time. The reachable set of an agent in a fast flow is characterized using optimal control techniques. Specifically, this work addresses the complementary cases where the static flow field is smooth, and where the flow field is piecewise constant. The latter case arises as a proposed approximation of a smooth flow that remains analytically tractable. Furthermore, the techniques used in the piecewise constant flow case enables treatment for obstacles in the environment. In both cases, a gradient ascent method is derived to maximize the total coverage area in a distributed fashion. Through simulations, such a network is able to maximize the coverage area in a fast flow. accuracy and affordable computational requirements of our approach.

File: main-enlarged.pdf

Bib-tex entry:

@article{AK-SM:12,
author = {A. Kwok and S. Mart{\'\i}nez},
title = {Coverage maximization with autonomous agents in fast flow environments},
journal= {Journal of Optimization Theory and Applications (JOTA)},
volume ={155},
number={2},
pages ={986-1007},
year =2012