COVERAGE CONTROL ON MULTI-AGENT SYSTEM
In this work, we study the problem of maximizing the coverage of a Mobile Sensor Network under an unknown interest function through distributed means. To maximize the coverage, we adopt the distributed version of the Voronoi locational optimization method. The stability results of the method is disc...
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| Format: | Thesis |
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[Yogyakarta] : Universitas Gadjah Mada
2014
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| Summary: | In this work, we study the problem of maximizing the coverage of a Mobile Sensor
Network under an unknown interest function through distributed means. To maximize
the coverage, we adopt the distributed version of the Voronoi locational optimization
method. The stability results of the method is discussed. Numerical experiment is conducted
to study the eect of network topology and interest function. To estimate the
interest function, we used the distributed Recursive Least Square method based on Alternating
Minimization Algorithm Framework. The correctness and eectiveness of the
method is proved through numerical simulation. Then, we aim to combine those two
method. The condition that need to be fulfilled to make the system stable is discussed.
We also introduced some modification to the RLS algorithm to alleviate the problem
of the lack of excitation. The combined algorithm is then simulated to show its eectiveness.
The result of this work shows that the modified method perform slightly worse
compared with the case of centralized locational optimization with known interest field |
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