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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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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 in Multi-Agent Games on Arbitrary Connected Networks 14

Coverage Control in Multi-Agent Games on Arbitrary Connected...

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14th Asian control Conference (ASCC)

作者： Zhang, Shaoqing Fan, Pengyang Xia, Weiguo Dalian Univ Technol Minist Educ Key Lab Intelligent Control & Optimizat Ind Equip Dalian Peoples R China Dalian Univ Technol Sch Control Sci & Engn Dalian Peoples R China Shenyang Aircraft Design & Res Inst Shenyang Peoples R China

ISBN: (纸本)9798331540845;9789887581598

In this paper, we address the heterogeneous multi-agent coverage control problem. While existing algorithms for coverage control are typically designed for specific communication network architectures, there is a notable gap between the available algorithms and the need for developing algorithms suitable for arbitrary connected communication networks. To mitigate this gap, we propose a distributed network adjustment strategy aimed at optimizing network structure to enhance the coverage performance across arbitrary connected communication networks. In terms of the coverage performance, we design a coverage utility function based on network games in dynamic networks and formulate a potential game function, thereby transforming the coverage game problem in dynamic networks into a max-min problem. Additionally, we introduce the Dynamic Network Region coverage Algorithm to address the coverage game problem in dynamic networks. Finally, we validate the effectiveness of our algorithm through simulation experiments.

关键词： coverage control network game dynamic network

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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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A bi-level approach for optimal vehicle relocating in Mobility-On-Demand systems with approximate dynamic programming and coverage control

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TRANSPORTATION RESEARCH PART E-LOGISTICS AND TRANSPORTATION REVIEW 2024年 192卷

作者： Huang, Yunping Zhu, Pengbo Zhong, Renxin Geroliminis, Nikolas Sun Yat Sen Univ Sch Intelligent Syst Engn Guangzhou Peoples R China Hong Kong Polytech Univ Dept Civil & Environm Engn Hong Kong Peoples R China Ecole Polytech Fed Lausanne Urban Transport Syst Lab LUTS Lausanne Switzerland

For Mobility-on-Demand systems, the imbalance between vehicle supply and demand is a longstanding challenge, leading to losses of orders and long waiting times. Relocating idle vehicles to high-demand regions can enhance system efficiency, thus improving the quality of service. Enforcing vehicle relocation via either link-node or grid-based representation makes it hard to capture the interrelated dynamics with private vehicles while being computationally intensive. The macroscopic fundamental diagram (MFD) provides a powerful tool to model the interrelated dynamics while individual vehicle details may be absent in the regional-level representation. Therefore, we propose a bi-level rebalancing scheme to maximize the served orders in the system. The urban area is first partitioned into several subregions. For the upper level, the interrelated dynamics of private vehicles and on-demand vehicles are modeled based on the MFD. Then a stochastic programming problem is formulated and solved using Approximate Dynamic Programming (ADP) to determine the number of desired vehicles in each subregion and cross-border. For the lower level, a Voronoi-based distributed coverage control algorithm is implemented by each vehicle to obtain position guidance efficiently. The bi-level framework is evaluated on a simulator of the real road network of Shenzhen, China. Simulation results demonstrate that, compared to other policies, the proposed approach can serve more requests with less waiting time.

关键词： Vehicle relocating/rebalancing Bi-level control Approximate dynamic programming coverage control

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Joint Power and coverage control of Massive UAVs in Post-Disaster Emergency Networks: An Aggregative Game-Theoretic Learning Approach

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IEEE TRANSACTIONS ON NETWORK SCIENCE AND ENGINEERING 2024年第4期11卷 3782-3799页

作者： Wu, Jing Chen, Qimei Jiang, Hao Wang, Haozhao Xie, Yulai Xu, Wenzheng Zhou, Pan Xu, Zichuan Chen, Lixing Li, Beibei Wang, Xiumin Wu, Dapeng Oliver Wuhan Univ Elect Informat Sch Wuhan 430072 Peoples R China Huazhong Univ Sci & Technol Sch Comp Sci & Technol Wuhan 430074 Peoples R China Huazhong Univ Sci & Technol Hubei Engn Res Ctr Big Data Secur Sch Cyber Sci & Engn Wuhan 430074 Peoples R China Sichuan Univ Dept Comp Network & Commun Chengdu 610000 Peoples R China Huazhong Univ Sci & Technol Hubei Engn Res Ctr Big Data Secur Sch Cyber Sci & Engn Hubei Key Lab Distributed Syst Secur Wuhan 430074 Peoples R China Dalian Univ Technol Sch Software Dalian 116024 Peoples R China Shanghai Jiao Tong Univ Inst Cyber Sci & Technol Sch Elect Informat & Elect Engn Shanghai 200240 Peoples R China Shanghai Key Lab Integrated Adm Technol Informat S Shanghai 200240 Peoples R China Sichuan Univ Sch Cyber Sci & Engn Chengdu 610065 Peoples R China South China Univ Technol Sch Comp Sci & Engn Guangzhou 510640 Peoples R China City Univ Hong Kong Dept Comp Sci Hong Kong 999077 Peoples R China

In the context of 6G, airborne post-disaster emergency networks (PENs) could be resilient in calamities and offer hope for disaster recovery in the underserved disaster zone. Unmanned aerial vehicles (UAV)-enabled ad-hoc network is such a significant contingency plan for communication after natural disasters, such as typhoon and earthquake. Specially, we present possible technological solutions for PENs targets for counteracting any large-scale disasters to achieve efficient communication and rapid network deployment. To this end, in this paper we jointly take power and coverage control into account during the UAV network configuration. An innovative noncooperative game theoretical model and improved binary log-linear algorithm (BLLA) have been adopted to achieve the optimal system performance. To deal with the challenges brought by highly dynamic post-disaster circumstances, we employ the aggregative game which is able to capture the strategies updating constraint and strategy-deciding error in large-scale UAV networks. Moreover, we propose a novel synchronous payoff-based binary log-linear learning algorithm (SPBLLA) to lessen information exchange and hence reduce strategy updating time and energy consumption. Ultimately, the experiments indicate that, under the same strategy-deciding error rate, SPBLLA's learning rate is manifestly faster than that of the revised BLLA. Superior performance gains are seen in SNR and network coverage and hence render a great network solution in emergency scenarios.

关键词： Autonomous aerial vehicles Games Heuristic algorithms Disasters Wireless communication Signal to noise ratio Energy consumption UAV aggregative game synchronous learning coverage control post-disaster wireless communications

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Privacy-Preserving coverage control for Multiagent Systems with Limited Communication Ranges

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR control 2024年第0期

作者： Wang, Peng Song, Cheng Liu, Lu Xian Modern Control Technol Res Inst Xian Peoples R China City Univ Hong Kong Dept Biomed Engn Hong Kong Peoples R China Nanjing Univ Sci & Technol Sch Automat Nanjing Peoples R China

This work investigates the coverage control problem for networked mobile agents on a circle, considering both limited communication ranges and privacy preservation requirements. The objective of the agents is to cooperatively minimize the coverage cost function, which is the longest time required to arrive at any point on the circle from the optimal locations of the agents. A new confidential interaction protocol is proposed to drive the multiagent system to the optimal configuration. Moreover, the process required to implement the confidential interaction protocol is provided to handle the limited communication ranges during coverage tasks. Under the privacy-preserving coverage control law, it is proved that networked mobile agents with limited communication ranges can be driven to optimal configuration with guaranteed privacy preservation. Finally, a simulation example is provided.

关键词： communication ranges cooperative control coverage control multiagent systems privacy preservation

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A coverage control-Based Idle Vehicle Rebalancing Approach for Autonomous Mobility-on-Demand Systems

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IEEE TRANSACTIONS ON control SYSTEMS TECHNOLOGY 2024年第5期32卷 1839-1853页

作者： Zhu, Pengbo Sirmatel, Isik Ilber Ferrari-Trecate, Giancarlo Geroliminis, Nikolas Ecole Polytech Fed Lausanne Urban Transport Syst Lab CH-1015 Lausanne Switzerland Trakya Univ Fac Engn Dept Elect & Elect Engn Control Sect TR-22030 Edirne Turkiye Ecole Polytech Fed Lausanne Dependable Control & Decis Grp CH-1015 Lausanne Switzerland

As an emerging mode of urban transportation, autonomous mobility-on-demand (AMoD) systems show the potential in improving mobility in cities through timely and door-to-door services. However, the spatiotemporal imbalances between mobility demand and supply may lead to inefficiencies and a low quality of service. Vehicle rebalancing (i.e., dispatching idle vehicles to high-demand areas) is a potential solution for efficient AMoD fleet management. In this article, we formulate the vehicle rebalancing problem as a coverage control problem for the deployment of a fleet of mobile agents for AMoD operation in urban areas. Performance is demonstrated via microscopic simulations representing a large urban road network in Shenzhen, China. The results reveal the potential of the proposed method in improving service rates and decreasing passenger waiting times.

关键词： Autonomous mobility-on-demand (AMoD) systems cooperative control coverage control distributed control vehicle rebalancing

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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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Dynamic coverage control for Constrained Mobile Sensor Networks

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IEEE TRANSACTIONS ON AUTOMATIC control 2024年第4期69卷 2131-2142页

作者： Peng, Bowen Zhang, Zhirong Song, Yongduan Chongqing Univ Sch Automat Chongqing 400044 Peoples R China Nanyang Technol Univ Sch Elect & Elect Engn Singapore 639798 Singapore Chongqing Univ Chongqing Key Lab Intelligent Unmanned Syst Chongqing 400044 Peoples R China Chongqing Univ Star Inst Intelligent Syst Chongqing 400044 Peoples R China

In this article, we study the cooperative dynamic coverage control problem by using viability theory. We focus on the intertemporal coverage optimization for nonlinear mobile sensor networks with mobility constraint, arbitrary sensory range, and obstacle avoidance over large-scale domains, which remains to be an interesting open problem prior to this work. Our proposed cooperative coverage control law enables the constrained sensor networks to minimize the overall intertemporal cost of the distributed attention factors throughout the mission domain, while avoiding unforeseen obstacles, by just local information. The mobility constraint of the mobile sensors includes nonzero velocity and bounded turning rate, where the unforeseen obstacles, the mission domain, and the sensory range are considered to be arbitrary compact sets. The viable detection domain is proposed based on viability theory, which is the largest set of states within the sensory domain, and the designed control strategy enables the mobile sensor to detect any target point inside it in a finite time while avoiding obstacles. Effective algorithms capable of reconstructing the viable detection domain are derived, with which both the noncooperative and cooperative coverage control strategies are developed, and their corresponding coverage performances are analytically evaluated. The efficiency of the proposed method is confirmed and illustrated via simulations.

关键词： Capture basin collision avoidance constrained nonlinear systems cooperative control coverage control multiagent systems viability kernel viability theory

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