A Multi-Agent Coverage Algorithm with Connectivity Maintenance
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Choi, Sungjoon | - |
dc.contributor.author | Lee, Kyungjae | - |
dc.contributor.author | Oh, Songhwai | - |
dc.date.accessioned | 2022-11-28T01:58:02Z | - |
dc.date.available | 2022-11-28T01:58:02Z | - |
dc.date.issued | 2017-11 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/cau/handle/2019.sw.cau/59374 | - |
dc.description.abstract | This paper presents a connectivity control algorithm of a multi-agent system. The connectivity of the multi-agent system can be represented by the second smallest eigenvalue lambda(2) of the Laplacian matrix L-G and it is also referred to as algebraic connectivity. Unlike many of the existing connectivity control algorithms which adapt convex optimization technique to maximize algebraic connectivity, we first show that the algebraic connectivity can be maximized by minimizing the weighted sum of distances between the connected agents. We implement a hill-climbing algorithm that minimizes the weighted sum of distances. Semi-definite programming (SDP) is used for computing proper weight w(star). Our proposed algorithm can effectively be mixed with other cooperative applications such as covering an unknown area or following a leader. | - |
dc.format.extent | 6 | - |
dc.language | 영어 | - |
dc.language.iso | ENG | - |
dc.publisher | IEEE | - |
dc.title | A Multi-Agent Coverage Algorithm with Connectivity Maintenance | - |
dc.type | Article | - |
dc.identifier.doi | 10.1109/MFI.2017.8170372 | - |
dc.identifier.bibliographicCitation | 2017 IEEE INTERNATIONAL CONFERENCE ON MULTISENSOR FUSION AND INTEGRATION FOR INTELLIGENT SYSTEMS (MFI), pp 512 - 517 | - |
dc.description.isOpenAccess | N | - |
dc.identifier.wosid | 000426937700082 | - |
dc.identifier.scopusid | 2-s2.0-85042367792 | - |
dc.citation.endPage | 517 | - |
dc.citation.startPage | 512 | - |
dc.citation.title | 2017 IEEE INTERNATIONAL CONFERENCE ON MULTISENSOR FUSION AND INTEGRATION FOR INTELLIGENT SYSTEMS (MFI) | - |
dc.type.docType | Proceedings Paper | - |
dc.publisher.location | 미국 | - |
dc.subject.keywordPlus | NETWORKS | - |
dc.subject.keywordPlus | COORDINATION | - |
dc.subject.keywordPlus | CONSENSUS | - |
dc.subject.keywordPlus | CONSTRAINTS | - |
dc.subject.keywordPlus | SYSTEMS | - |
dc.relation.journalResearchArea | Computer Science | - |
dc.relation.journalResearchArea | Engineering | - |
dc.relation.journalWebOfScienceCategory | Computer Science, Artificial Intelligence | - |
dc.relation.journalWebOfScienceCategory | Engineering, Electrical & Electronic | - |
dc.description.journalRegisteredClass | scopus | - |
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.
84, Heukseok-ro, Dongjak-gu, Seoul, Republic of Korea (06974)02-820-6194
COPYRIGHT 2019 Chung-Ang University All Rights Reserved.
Certain data included herein are derived from the © Web of Science of Clarivate Analytics. All rights reserved.
You may not copy or re-distribute this material in whole or in part without the prior written consent of Clarivate Analytics.