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In this paper the problem of covering an area using a network of multi-agent systems in the presence of inter-agent communication delays induced by communication faults is investigated. A spatial partitioning technique is used based on the delayed information to divide the field among all agents. Then a motion coordination algorithm is proposed to drive agents in such a way that the coverage performance...
This paper presents new algorithms for distributed deployment of a network of multi-agent systems to minimize prescribed cost function. It is assumed that the so-called “operation cost” of distinct agents can be different. The problem is investigated for both cases of an obstacle-free environment and a fixed-obstacle environment. For the former case, the center multiplicatively weighted Voronoi (CMWV)...
A distributed Voronoi-based sensor deployment approach is proposed to optimize sensor network coverage. It is assumed that each sensor can construct its Voronoi polygon using the information it receives from the neighboring sensors. To increase the local coverage of the sensors, it is desired to find a point in each polygon, such that if the corresponding sensor is placed there, then its covered area...
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