论文标题
在能源受限的药物的合作覆盖问题中的集中式和分散方法的比较
Comparison of Centralized and Decentralized Approaches in Cooperative Coverage Problems with Energy-Constrained Agents
论文作者
论文摘要
使用能量受限的药物考虑了多代理覆盖问题。本文的目的是比较集中式和分散方法之间的覆盖范围。为此，在能量耗竭和补充约束下开发了一种近乎最佳的集中覆盖控制方法。最佳覆盖范围的形成对应于最大化覆盖范围性能的代理位置。最佳充电形成对应于固定在充电站的一种代理的代理位置，其余代理将覆盖范围的性能最大化。我们通过在最佳覆盖范围形成和最佳充电形成之间切换来控制这种合作多代理系统的行为。最后，确定覆盖率位置，充电时间和试剂轨迹的最佳停留时间，以使给定时间间隔的覆盖范围最大化。特别是，我们的控制者保证，最多有一个代理商会离开团队进行能量补充。
A multi-agent coverage problem is considered with energy-constrained agents. The objective of this paper is to compare the coverage performance between centralized and decentralized approaches. To this end, a near-optimal centralized coverage control method is developed under energy depletion and repletion constraints. The optimal coverage formation corresponds to the locations of agents where the coverage performance is maximized. The optimal charging formation corresponds to the locations of agents with one agent fixed at the charging station and the remaining agents maximizing the coverage performance. We control the behavior of this cooperative multi-agent system by switching between the optimal coverage formation and the optimal charging formation. Finally, the optimal dwell times at coverage locations, charging time, and agent trajectories are determined so as to maximize coverage over a given time interval. In particular, our controller guarantees that at any time there is at most one agent leaving the team for energy repletion.
