Information-based Optimal Deployment for a Group of Dynamic Unicycles
- 9 Downloads
In this paper, we investigate the optimal deployment problems for a group of dynamic unicycles in a given region. The information of interests over this region is considered such that the region with higher interests can get more attentions. Firstly, we present a cost function to describe the performance of multi-unicycle systems and find out the optimal locations for unicycles. Then, we transform this information-based optimal deployment problem into a moving target tracking problem and propose a novel kinematic control protocol to drive unicycles to the optimal locations. On this basis, an algorithm is provided for the dynamic unicycles by using the back-stepping techniques. Moreover, we demonstrate the stability and convergence of the proposed multi-unicycle systems. Finally, numerical simulations are provided to illustrate the effectiveness of the proposed approaches.
KeywordsBack-stepping Techniques cost function dynamic unicycles information-based optimal deployment
Unable to display preview. Download preview PDF.
- I. I. Hussein, D. M. Stipanovic, and Y. Wang, “Reliable coverage control using heterogeneous vehicles,” in Proceedings of the 46th IEEE Conference on Decision and Control, IEEE, pp. 6142–6147, 2007.Google Scholar