Coverage tracking control for multiple cooperative agents

Abstract

In this article, we consider coverage problem of a moving target by multiple mobile agents. The mobile agents with global sensing areas and limited actuation region are designed to track down a target with estimation error with the help of flocking and coverage. In order to capture the target, its location and velocity are first estimated. With observer-based estimation combined with flocking control, respectively, the group of agents can catch the target by a coverage tracking policy in finite time.

Keywords:

• mobile agents
• sensor networks
• tracking
• coverage
• flocking control

Acknowledgements

This work has been supported by the NNSF of China under Grants under Grants 61104096, SDNSF under Grants ZR2011FQ014 and HIT.NSRIF.201002.