Please use this identifier to cite or link to this item: https://idr.l2.nitk.ac.in/jspui/handle/123456789/10506
Title: Automated multi-agent search using centroidal Voronoi configuration
Authors: Guruprasad, K.R.
Ghose, D.
Issue Date: 2011
Citation: IEEE Transactions on Automation Science and Engineering, 2011, Vol.8, 2, pp.420-423
Abstract: This paper addresses the problem of automated multiagent search in an unknown environment. Autonomous agents equipped with sensors carry out a search operation in a search space, where the uncertainty, or lack of information about the environment, is known a priori as an uncertainty density distribution function. The agents are deployed in the search space to maximize single step search effectiveness. The centroidal Voronoi configuration, which achieves a locally optimal deployment, forms the basis for the proposed sequential deploy and search strategy. It is shown that with the proposed control law the agent trajectories converge in a globally asymptotic manner to the centroidal Voronoi configuration. Simulation experiments are provided to validate the strategy. 2010 IEEE.
URI: http://idr.nitk.ac.in/jspui/handle/123456789/10506
Appears in Collections:1. Journal Articles

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