Jorge Cortés

Professor





Visibility-based multi-agent deployment in orthogonal environments
A. Ganguli, J. Cortés, F. Bullo
Proceedings of the American Control Conference, New York, USA, pp. 3426-3431


Abstract

This paper presents algorithms for the deployment of mobile agents with line-of-sight sensing and communication capabilities in simply connected orthogonal environments. A simply connected orthogonal environment is a polygon without holes whose sides are either parallel or perpendicular to each other. The main objective is to achieve full visibility of the environment. The agents are assumed to have access to a local memory and their operation is partially asynchronous. We propose methods based on incrementally partitioning the environment while deploying the agents. Novel contributions of this work include the design of distributed algorithms to achieve the following tasks: (i) complete coverage of simply connected orthogonal environments; and (ii) complete coverage of simply connected orthogonal environments such that the final configuration of agents forms a network connected via line-of-sight. In each case, we prove the remarkable fact that the number of agents sufficient to complete the task with the proposed algorithms are identical to the ones obtained if the entire environment was known a priori. A final contribution of the paper is the characterization of the robustness properties of the algorithms to agent failures in the case of deployment with connectivity constraints.

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Mechanical and Aerospace Engineering, University of California, San Diego
9500 Gilman Dr, La Jolla, California, 92093-0411

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cortes at ucsd.edu
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