Show simple item record

dc.contributor.author
Carron, Andrea
dc.contributor.author
Zeilinger, Melanie N.
dc.contributor.editor
Findeisen, Rolf
dc.contributor.editor
Hirche, Sandra
dc.contributor.editor
Janschek, Klaus
dc.contributor.editor
Mönnigmann, Martin
dc.date.accessioned
2021-07-27T07:34:26Z
dc.date.available
2020-12-11T10:41:45Z
dc.date.available
2020-12-22T07:49:31Z
dc.date.available
2021-07-01T08:15:59Z
dc.date.available
2021-07-27T07:34:26Z
dc.date.issued
2020-11
dc.identifier.issn
2405-8963
dc.identifier.other
10.1016/j.ifacol.2020.12.1686
en_US
dc.identifier.uri
http://hdl.handle.net/20.500.11850/455980
dc.identifier.doi
10.3929/ethz-b-000455980
dc.description.abstract
Cooperative robotic problems often require coordination in space in order to complete a given task, important examples include search and rescue, operations in hazardous environments, and autonomous taxi deployment. Events can be quickly detected by partitioning the working environment and assigning one robot to each partition. However, a crucial factor that limits the effectiveness and usage of coverage algorithms is related to the ability of taking decisions in the presence of constraints. In this paper, we propose a coverage control algorithm that is capable of handling nonlinear dynamics, and state and input constraints. The proposed algorithm is based on a nonlinear tracking model predictive controller and is proven to converge to a centroidal Voronoi configuration. We also introduce a procedure to design the terminal ingredients of the model predictive controller. The effectiveness of the algorithm is then highlighted with a numerical simulation.
en_US
dc.format
application/pdf
en_US
dc.language.iso
en
en_US
dc.publisher
Elsevier
en_US
dc.rights.uri
http://creativecommons.org/licenses/by-nc-nd/4.0/
dc.subject
Coverage control
en_US
dc.subject
Control (mechanical engineering)
en_US
dc.subject
Control engineering theory (electrical engineering)
en_US
dc.subject
Voronoi partitioning
en_US
dc.subject
Model predictive control
en_US
dc.title
Model Predictive Coverage Control
en_US
dc.type
Conference Paper
dc.rights.license
Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International
dc.date.published
2021-04-14
ethz.book.title
21st IFAC World Congress
en_US
ethz.journal.title
IFAC-PapersOnLine
ethz.journal.volume
53
en_US
ethz.journal.issue
2
en_US
ethz.pages.start
6107
en_US
ethz.pages.end
6112
en_US
ethz.size
6 p.
en_US
ethz.version.deposit
publishedVersion
en_US
ethz.event
1st Virtual IFAC World Congress (IFAC-V 2020)
en_US
ethz.event.location
Online
en_US
ethz.event.date
July 11-17, 2020
en_US
ethz.notes
Due to the Coronavirus (COVID-19) the 21st IFAC World Congress 2020 became the 1st Virtual IFAC World Congress (IFAC-V 2020).
en_US
ethz.identifier.wos
ethz.publication.place
Kidlington
en_US
ethz.publication.status
published
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02619 - Inst. Dynam. Syst. u. Regelungstechnik / Inst. Dynamic Systems and Control::09563 - Zeilinger, Melanie / Zeilinger, Melanie
en_US
ethz.leitzahl.certified
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02619 - Inst. Dynam. Syst. u. Regelungstechnik / Inst. Dynamic Systems and Control::09563 - Zeilinger, Melanie / Zeilinger, Melanie
ethz.date.deposited
2020-12-11T10:41:54Z
ethz.source
FORM
ethz.eth
yes
en_US
ethz.availability
Open access
en_US
ethz.rosetta.installDate
2021-07-01T08:16:07Z
ethz.rosetta.lastUpdated
2024-02-02T14:25:06Z
ethz.rosetta.exportRequired
true
ethz.rosetta.versionExported
true
ethz.COinS
ctx_ver=Z39.88-2004&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rft.atitle=Model%20Predictive%20Coverage%20Control&rft.jtitle=IFAC-PapersOnLine&rft.date=2020-11&rft.volume=53&rft.issue=2&rft.spage=6107&rft.epage=6112&rft.issn=2405-8963&rft.au=Carron,%20Andrea&Zeilinger,%20Melanie%20N.&rft.genre=proceeding&rft_id=info:doi/10.1016/j.ifacol.2020.12.1686&rft.btitle=21st%20IFAC%20World%20Congress
 Search print copy at ETH Library

Files in this item

Thumbnail

Publication type

Show simple item record