Human-swarm collaboration with coverage control under nonidentical and limited sensory ranges

Wei Tao Li, Yen Chen Liu

Research output: Contribution to journalArticle

1 Citation (Scopus)


Human intelligence plays a significant role in the operation of a multi-agent system. This study proposes a control framework that allows a human operator to collaboratively interact with a swarm robot to accomplish environmental exploration, detection, and coverage. A ri-limited Voronoi partition is proposed herein for improving the all-territory sensing range for coverage control. Subsequently, an interactive control framework and control algorithms are presented for an abstract task function that allows a human operator to control the movement of a swarm robot in a working environment. Environmental information is fed back to the master devices so that the human operator can realize the swarm robots coverage control situation. Stability and position tracking with static coverage control and input-to-state stability with dynamic coverage control of the human-swarm system are investigated. The efficiency and efficacy of the proposed system are validated via numerical examples and experiments.

Original languageEnglish
Pages (from-to)9122-9151
Number of pages30
JournalJournal of the Franklin Institute
Issue number16
Publication statusPublished - 2019 Nov

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Signal Processing
  • Computer Networks and Communications
  • Applied Mathematics

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