Abstract
Coverage and control of a diffusion process using multiple robots have been studied in this paper. Two control strategies such as CVT (Centroidal Voronoi Tessellations)-Allocation-Motion Algorithm and CVT-Obstacles Avoidance-Motion Algorithm have been proposed for cooperative control of multiple robots in realizing the task of coverage and control of diffusion process that is modeled by parabolic partial differential equation. Reliability and transient performance have been improved based on the algorithms that is proposed in this paper. Simulation results using Diff-MAS2D for the diffusion process illustrate the effectiveness of the theoretical results.
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Cao, Kc., Zhou, F., Qian, M. (2017). Coverage and Control of Diffusion Process in Cyber-Physical Systems. In: Yue, D., Peng, C., Du, D., Zhang, T., Zheng, M., Han, Q. (eds) Intelligent Computing, Networked Control, and Their Engineering Applications. ICSEE LSMS 2017 2017. Communications in Computer and Information Science, vol 762. Springer, Singapore. https://doi.org/10.1007/978-981-10-6373-2_56
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DOI: https://doi.org/10.1007/978-981-10-6373-2_56
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