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Deploy and Search Strategy for Multi-agent systems using Voronoi partitions
University of Glamorgan, Pontypridd, Wales July 09-July 11
DOI Bookmark: http://doi.ieeecomputersociety.org/10.1109/ISVD.2007.154th International Symposium on Vorono ...
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Guruprasad K. R., National Institute of Technology Karnataka, India
Debasish Ghose, Indian Institute of Science, India
In this paper we analyze a deploy and search strategy for multi-agent systems. Mobile agents equipped with sensors carry out search operation in the search space. The lack of information about the search space is modeled as an uncertainty density distribution over the space, and is assumed to be known to the agents a priori. In each step, the agents deploy themselves in an optimal way so as to maximize per step reduction in the uncertainty density. We analyze the proposed strategy for convergence and spatial distributedness. The control law moving the agents has been analyzed for stability and convergence using LaSalle?s invariance principle, and for spatial distributedness under a few realistic constraints on the control input such as constant speed, limit on maximum speed, and also sensor range limits. The simulation experiments show that the strategy successfully reduces the average uncertainty density below the required level.
Citation:
Guruprasad K. R., Debasish Ghose, "Deploy and Search Strategy for Multi-agent systems using Voronoi partitions," isvd, pp.91-100, 4th International Symposium on Voronoi Diagrams in Science and Engineering (ISVD 2007), 2007
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