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

Wei Tao Li, Yen Chen Liu

研究成果: Article

1 引文 斯高帕斯(Scopus)

摘要

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.

原文English
頁(從 - 到)9122-9151
頁數30
期刊Journal of the Franklin Institute
356
發行號16
DOIs
出版狀態Published - 2019 十一月

All Science Journal Classification (ASJC) codes

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

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