Adaptive coverage control with Guaranteed Power Voronoi Diagrams

Mert Turanli; Hakan Temeltas

doi:10.1109/ICSAI.2017.8248255

Adaptive coverage control with Guaranteed Power Voronoi Diagrams

Mert Turanli, Hakan Temeltas

Department of Control and Automation Engineering

Istanbul Technical University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Citations (Scopus)

Abstract

In this paper, we present a new Voronoi partitioning concept for coordination of the mobile agents which takes imprecision in localization into account. By using the Guaranteed Power Voronoi Diagrams (GPVD), the regions assigned to the agents can be changed by using the weights of the cells as in Power Voronoi Diagrams. Also, the proposed adaptive coordination algorithm is based on adaptive coverage control and GPVDs. The Lyapunov-Type stability proof of the algorithm is presented with simulation results.

Original language	English
Title of host publication	2017 4th International Conference on Systems and Informatics, ICSAI 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	7-13
Number of pages	7
ISBN (Electronic)	9781538611074
DOIs	https://doi.org/10.1109/ICSAI.2017.8248255
Publication status	Published - 28 Jun 2017
Event	4th International Conference on Systems and Informatics, ICSAI 2017 - Hangzhou, China Duration: 11 Nov 2017 → 13 Nov 2017

Publication series

Name	2017 4th International Conference on Systems and Informatics, ICSAI 2017
Volume	2018-January

Conference

Conference	4th International Conference on Systems and Informatics, ICSAI 2017
Country/Territory	China
City	Hangzhou
Period	11/11/17 → 13/11/17

Bibliographical note

Publisher Copyright:
© 2017 IEEE.

Keywords

adaptive coordination
coverage control
guaranteed power voronoi diagrams

Access to Document

10.1109/ICSAI.2017.8248255

Cite this

Turanli, M., & Temeltas, H. (2017). Adaptive coverage control with Guaranteed Power Voronoi Diagrams. In 2017 4th International Conference on Systems and Informatics, ICSAI 2017 (pp. 7-13). (2017 4th International Conference on Systems and Informatics, ICSAI 2017; Vol. 2018-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICSAI.2017.8248255

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author = "Mert Turanli and Hakan Temeltas",

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doi = "10.1109/ICSAI.2017.8248255",

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Turanli, M & Temeltas, H 2017, Adaptive coverage control with Guaranteed Power Voronoi Diagrams. in 2017 4th International Conference on Systems and Informatics, ICSAI 2017. 2017 4th International Conference on Systems and Informatics, ICSAI 2017, vol. 2018-January, Institute of Electrical and Electronics Engineers Inc., pp. 7-13, 4th International Conference on Systems and Informatics, ICSAI 2017, Hangzhou, China, 11/11/17. https://doi.org/10.1109/ICSAI.2017.8248255

Adaptive coverage control with Guaranteed Power Voronoi Diagrams. / Turanli, Mert; Temeltas, Hakan.
2017 4th International Conference on Systems and Informatics, ICSAI 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 7-13 (2017 4th International Conference on Systems and Informatics, ICSAI 2017; Vol. 2018-January).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - In this paper, we present a new Voronoi partitioning concept for coordination of the mobile agents which takes imprecision in localization into account. By using the Guaranteed Power Voronoi Diagrams (GPVD), the regions assigned to the agents can be changed by using the weights of the cells as in Power Voronoi Diagrams. Also, the proposed adaptive coordination algorithm is based on adaptive coverage control and GPVDs. The Lyapunov-Type stability proof of the algorithm is presented with simulation results.

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Adaptive coverage control with Guaranteed Power Voronoi Diagrams

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Keywords

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