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coverage control and function approximation via semiconcave and semiconvex duality

MATHEMATICS OF control SIGNALS AND SYSTEMS 2025年 1-35页

作者： Dower, Peter M. Univ Melbourne Dept Elect & Elect Engn Parkville Vic 3010 Australia

A min-of-quadratics representation for the cost function underlying a popular approach to classical coverage control is used to motivate and develop connections to function approximation via semiconcave and semiconvex duality. By considering functions that are both semiconcave and semiconvex, upper and lower bounds are developed via their semiconcave and semiconvex relaxations. Min-of-quadratics and max-of-quadratics representations for these bounds are provided by construction, using quadratic basis functions that are synonymous with agents. These representations induce a pair of Voronoi tessellations, whose constituent polytopes delineate regions of space where agents are individually responsible for the upper and lower bounds. The difference in these bounds, weighted by the usual notion of density function, defines a function approximation error that is differentiable via Leibniz. Using the derivatives obtained, a generalized distributed control architecture is developed for minimizing the function approximation error involved. In the special case of spatially invariant function approximation, it is observed that the well-known classical coverage control architecture is recovered.

关键词： coverage control Duality Function approximation Distributed optimization

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Distributed coverage control of Constrained Constant-Speed Unicycle Multi-Agent Systems

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IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING 2025年 22卷 2225-2240页

作者： Liu, Qingchen Zhang, Zengjie Nhan Khanh Le Qin, Jiahu Liu, Fangzhou Hirche, Sandra Univ Sci & Technol China Dept Automat Hefei 230052 Peoples R China Eindhoven Univ Technol Dept Elect Engn NL-5600 MB Eindhoven Netherlands Tech Univ Munich Chair Informat Oriented Control D-80333 Munich Germany Harbin Inst Technol Sch Astronaut Harbin 150001 Peoples R China Ningbo Inst Intelligent Equipment Technol Co Ltd Ningbo 315104 Peoples R China

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. Theoretical proofs are provided to guarantee that the CSURs ultimately move to the optimal coverage configuration without moving out of the covered domain. The controller is implemented in a distributed manner based on a novel communication standard among the agents. A series of simulation studies are conducted to validate the correctness of our theory by showing the efficacy of the proposed coverage controller in different initial conditions and with various control parameters. A comparison study in simulation reveals the advantage of the proposed method over the conventional method in terms of avoiding infeasibility. The experimental study verifies the applicability of the method to real robots. The development procedure of the method from theoretical analysis to experimental validation provides a novel framework for multi-agent system coordinate control with complex dynamics. Note to Practitioners-This paper gives a novel method to effectively cover a polygonal area using multiple constant-speed unicycle robots (CSUR) like wheeled robots and fixed-wing unmanned aerial vehicles (fUAV). Compared to the conventional approaches, our method allows these robots to cover a target region using circular orbits without departing the covered region. Also, the method satisfies common control saturation constraints in practice and can be implemented in a reliable distributed scheme. While the efficacy and correctness of the proposed method are rigorously proved using control theory, we also provide necessary inter

关键词： Multi-agent systems coverage control barrier-Lyapunov function invariance input-saturation control

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Multi-dynamic target coverage tracking control strategy based on multi-UAV collaboration

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control ENGINEERING PRACTICE 2025年 155卷

作者： Sun, Qiankun Liu, Weifeng Cai, Lei Shaanxi Univ Sci & Technol Sch Elect & Control Engn Xian 710016 Peoples R China Henan Inst Sci & Technol Sch Artificial Intelligence Xinxiang 456003 Peoples R China

In response to the issues of mutual interference among multiple targets, dynamic changes in coverage area, and the difficulty inaccurately estimating the optimal coverage positions during the coverage and tracking control process, this article proposes a multi-dynamic target coverage tracking control strategy based on Multiple Unmanned Aerial Vehicle (Multi-UAV) cooperation. To address the problem of estimating the number and location of optimal coverage points for multi-dynamic targets, we propose a dynamic estimation strategy of optimal coverage points for multi-dynamic targets;for the under-coverage problem, we propose an optimal coverage point estimation method for under-coverage conditions in order to improve the cost-effectiveness of coverage. Subsequently, a multi-UAV scheduling strategy based on the coverage cleanup cost is proposed, which assigns appropriate UAVs to perform coverage cleanup tasks for different coverage points. Addressing the performance constraints, path smoothness, collision avoidance, and path tracking problems of UAVs, we introduce B-spline-based multi-UAV path planning and line-of-sight-based guidance methods to achieve multiUAV coverage tracking control for multi-dynamic targets. Finally, the proposed method is applied to an ocean oil spill coverage cleanup task. Both simulation and emulation results validate the theoretical findings and demonstrate the effectiveness of the proposed method for such applications.

关键词： coverage control Multi-dynamic targets Multi-UAV Tracking control Marine oil spills

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coverage control for heterogeneous mobile sensor networks with bounded position measurement errors

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AUTOMATICA 2020年 120卷 109118-109118页

作者： Song, Cheng Liu, Lu Feng, Gang Fan, Yuan Xu, Shengyuan Nanjing Univ Sci & Technol Sch Automat Nanjing 210094 Peoples R China City Univ Hong Kong Dept Biomed Engn Kowloon Hong Kong Peoples R China Anhui Univ Sch Elect Engn & Automat Hefei 230601 Peoples R China

The coverage control problem for a network of heterogeneous mobile sensors with bound position measurement errors on a circle is addressed in this paper. A practical measurement error model is considered in which only the upper bounds of the measurement errors are known by the sensors a priori. The coverage cost function is defined as the largest arrival time from the mobile sensor network to any point on the circle. Two cases of coverage control with and without order preservation of the sensors respectively, are considered. For each case, the upper bounds on the measurement errors are employed to design an estimation algorithm for each sensor to estimate the difference between neighboring sensors' positions. Then, distributed coverage control laws are developed for the mobile sensors by using the estimated difference. Under the proposed control laws, the sensor network is driven to a neighborhood of the optimal configuration minimizing the cost function and the effect of the measurement errors on the coverage performance is reduced or even eliminated. (C) 2020 Elsevier Ltd. All rights reserved.

关键词： coverage control Mobile sensor networks Distributed control Measurement errors

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coverage control for Mobile Sensor Networks With Double-Integrator Dynamics and Unknown Disturbances

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IEEE TRANSACTIONS ON AUTOMATIC control 2023年第10期68卷 6299-6306页

作者： Wang, Peng Song, Cheng Liu, Lu City Univ Hong Kong Dept Biomed Engn Kowloon Hong Kong Peoples R China Nanjing Univ Sci & Technol Sch Automat Nanjing 210094 Peoples R China

In this article, coverage control for mobile sensors with double-integrator dynamics and different maximum velocities on a circle is investigated. A generalized energy function is introduced in the proposed coverage control laws to guarantee order preservation of the sensors despite of the existence of unknown but bounded disturbances. The velocity constraint of each sensor is shown to be always satisfied throughout the coverage task. It is shown that the sensor network can be driven to a neighborhood of the optimal configuration minimizing the coverage cost function and an upper bound on the coverage cost function when time goes to infinity is also provided. Finally, a simulation example is given to illustrate the effectiveness of the proposed coverage control laws.

关键词： coverage control mobile sensor networks unknown but bounded disturbances velocity constraints

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coverage control for mobile sensing networks

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IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION 2004年第2期20卷 243-255页

作者： Cortés, J Martínez, S Karatas, T Bullo, F Univ Illinois Coordinated Sci Lab Urbana IL 61801 USA Univ Politecn Cataluna Escola Univ Politecn Vilanova i La Geltru Vilanova i la Geltru Spain

This paper presents control and coordination algorithms for groups of vehicles. The focus is on autonomous vehicle networks performing distributed sensing tasks, where each vehicle plays the role of a mobile tunable sensor. The paper proposes gradient descent algorithms for a class of utility functions which encode optimal coverage and sensing policies. The resulting closed-loop behavior is adaptive, distributed, asynchronous, and verifiably correct.

关键词： Centroidal Voronoi partitions coverage control distributed and asynchronous algorithms sensor networks

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coverage control of mobile sensor networks with directional sensing

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MATHEMATICAL BIOSCIENCES AND ENGINEERING 2022年第3期19卷 2913-2934页

作者： Ju, Zhiyang Zhang, Hui Tan, Ying Chen, Xiang Beihang Univ Sch Transportat Sci & Technol Beijing 100191 Peoples R China Beihang Univ Ningbo Inst Technol NIT Ningbo 315323 Peoples R China Univ Melbourne Dept Mech Engn Melbourne Vic 3010 Australia Univ Windsor Dept Elect & Comp Engn Windsor ON N9B 3P4 Canada

control design of mobile sensors for coverage problem is addressed in this paper. The mobile sensors have non-linear dynamics and directional sensing properties which mean the sensing performance is also affected by the pointing directions of the sensors. Different from the standard optimal coverage problem where sensors are assumed to be omni-directional ones, orientation angles of the directional sensors should also be controlled, other than the position control, to achieve the coverage purpose. Considering also the non-linear dynamics of the mobile sensors, new control methodology is necessarily developed for the coverage problem with directional sensors. In the approach proposed, an innovative gradient based non-smooth motion controller is designed for the mobile sensors with unicycle dynamics. With the proposed controllers, the states of sensors will always stay in an positive invariant set where the gradient of the performance valuation function is well-defined if they are initialized within this set. Moreover, the sensors' states are proved to converge to some critical point where the gradient is zero. Simulation results are provided to illustrate the performance of the proposed coverage control strategy.

关键词： coverage control sensor networks directional sensors gradient-based control distributed control

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coverage control for mobile sensor networks with limited communication ranges on a circle

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AUTOMATICA 2018年 92卷 155-161页

作者： Song, Cheng Fan, Yuan Nanjing Univ Sci & Technol Sch Automat Nanjing 210094 Jiangsu Peoples R China Anhui Univ Sch Elect Engn & Automat Hefei 230601 Anhui Peoples R China

The coverage control problem for mobile sensor networks with limited communication ranges is addressed in this paper. The goal of the problem is to minimize a coverage cost function which indicates the largest arrival time from the mobile sensor network to the points on a circle. Different input constraints are imposed on the sensors with first-order dynamics due to their different movement capabilities. To deal with this problem, low gain feedback is utilized to develop a distributed coverage control law for each sensor and an upper bound on the low gain is also provided. It is shown that networked mobile sensors can be driven to the configuration minimizing the coverage cost function as long as their communication ranges exceed a threshold and network connectivity of the sensors does not need to be preserved during the coverage task. Finally, a numerical example is given to illustrate the effectiveness of the proposed coverage control law. (C) 2018 Elsevier Ltd. All rights reserved.

关键词： coverage control Mobile sensor networks Distributed control Low gain feedback

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coverage control in unknown environments using neural networks

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ARTIFICIAL INTELLIGENCE REVIEW 2012年第3期38卷 237-255页

作者： Dirafzoon, Alireza Emrani, Saba Salehizadeh, S. M. Amin Menhaj, Mohammad Bagher Amirkabir Univ Technol Dept Elect Engn Tehran Iran

This paper proposes a distributed adaptive control algorithm for coverage control in unknown environments with networked mobile sensors. An online neural network weight tuning algorithm is used in order for the robots to estimate the sensory function of the environment, and the control law is derived according to the feedforward neural network estimation of the distribution density function of the environment. It is distributed in that it only takes advantage of local information of each robot. A Lyapunov function is introduced in order to show that the proposed control law causes the network to converge to a near-optimal sensing configuration. Due to neural network nonlinear approximation property, a major advantage of the proposed method is that in contrary to previous well known approaches for coverage, it is not restricted to a linear regression form. Finally the controller is demonstrated in numerical simulations. Simulation results have been shown that the proposed controller outperforms the previous adaptive approaches in the sense of performance and convergence rate.

关键词： Mobile sensor networks Neural networks coverage control Lyapunov stability analysis

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coverage control for Heterogeneous Mobile Sensor Networks Subject to Measurement Errors

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IEEE TRANSACTIONS ON AUTOMATIC control 2018年第10期63卷 3479-3486页

作者： Dou, Liya Song, Cheng Wang, Xiaofan Liu, Lu Feng, Gang Shanghai Jiao Tong Univ Dept Automat Shanghai 200240 Peoples R China City Univ Hong Kong Dept Mech & Biomed Engn Hong Kong Hong Kong Peoples R China Nanjing Univ Sci & Technol Sch Automat Nanjing 210094 Jiangsu Peoples R China

The coverage control problem of a circle by a mobile sensor network affected by bounded measurement errors is addressed in this paper. The mobile sensors are assumed to have different maximum velocities. Our main objective is to study the effect of measurement errors on the coverage cost function, which is defined as the largest time for the sensor network to arrive at any point on the circle. coverage control laws with input constraints are developed based on the noisy position measurements among sensors, under which the mobile sensor network converges to a neighborhood of the optimal configuration. Furthermore, the conditions for the sensors to preserve their spatial order on the circle are derived in order to avoid collision among sensors. An upper bound on the limit of the coverage cost function as time goes to infinity is also given.

关键词： coverage control measurement errors mobile sensor networks order preservation velocity constraints

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