Cooperative Coverage Control of Multi-Agent Systems and its Applications PDF
Preview Cooperative Coverage Control of Multi-Agent Systems and its Applications
Studies in Systems, Decision and Control 408 Chao Zhai Hai-Tao Zhang Gaoxi Xiao Cooperative Coverage Control of Multi-Agent Systems and its Applications Studies in Systems, Decision and Control Volume 408 SeriesEditor JanuszKacprzyk,SystemsResearchInstitute,PolishAcademyofSciences, Warsaw,Poland The series “Studies in Systems, Decision and Control” (SSDC) covers both new developments and advances, as well as the state of the art, in the various areas of broadly perceived systems, decision making and control–quickly, up to date and withahighquality.Theintentistocoverthetheory,applications,andperspectives on the state of the art and future developments relevant to systems, decision making,control,complexprocessesandrelatedareas,asembeddedinthefieldsof engineering,computerscience,physics,economics,socialandlifesciences,aswell astheparadigmsandmethodologiesbehindthem.Theseriescontainsmonographs, textbooks, lecture notes and edited volumes in systems, decision making and control spanning the areas of Cyber-Physical Systems, Autonomous Systems, Sensor Networks, Control Systems, Energy Systems, Automotive Systems, Biological Systems, Vehicular Networking and Connected Vehicles, Aerospace Systems, Automation, Manufacturing, Smart Grids, Nonlinear Systems, Power Systems, Robotics, Social Systems, Economic Systems and other. Of particular valuetoboththecontributorsandthereadershiparetheshortpublicationtimeframe and the world-wide distribution and exposure which enable both a wide and rapid disseminationofresearchoutput. IndexedbySCOPUS,DBLP,WTIFrankfurteG,zbMATH,SCImago. AllbookspublishedintheseriesaresubmittedforconsiderationinWebofScience. Moreinformationaboutthisseriesathttps://link.springer.com/bookseries/13304 · · Chao Zhai Hai-Tao Zhang Gaoxi Xiao Cooperative Coverage Control of Multi-Agent Systems and its Applications ChaoZhai Hai-TaoZhang DepartmentofAutomaticControl SchoolofArtificialIntelligence SchoolofAutomation andAutomation ChinaUniversityofGeosciences HuazhongUniversityofScience Wuhan,China andTechnology Wuhan,Hubei,China GaoxiXiao SchoolofElectricalandElectronic Engineering NanyangTechnologicalUniversity Singapore,Singapore ISSN2198-4182 ISSN2198-4190 (electronic) StudiesinSystems,DecisionandControl ISBN978-981-16-7624-6 ISBN978-981-16-7625-3 (eBook) https://doi.org/10.1007/978-981-16-7625-3 ©TheEditor(s)(ifapplicable)andTheAuthor(s),underexclusivelicensetoSpringerNature SingaporePteLtd.2021 Thisworkissubjecttocopyright.AllrightsaresolelyandexclusivelylicensedbythePublisher,whether thewholeorpartofthematerialisconcerned,specificallytherightsoftranslation,reprinting,reuse ofillustrations,recitation,broadcasting,reproductiononmicrofilmsorinanyotherphysicalway,and transmissionorinformationstorageandretrieval,electronicadaptation,computersoftware,orbysimilar ordissimilarmethodologynowknownorhereafterdeveloped. Theuseofgeneraldescriptivenames,registerednames,trademarks,servicemarks,etc.inthispublication doesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfromtherelevant protectivelawsandregulationsandthereforefreeforgeneraluse. Thepublisher,theauthorsandtheeditorsaresafetoassumethattheadviceandinformationinthisbook arebelievedtobetrueandaccurateatthedateofpublication.Neitherthepublishernortheauthorsor theeditorsgiveawarranty,expressedorimplied,withrespecttothematerialcontainedhereinorforany errorsoromissionsthatmayhavebeenmade.Thepublisherremainsneutralwithregardtojurisdictional claimsinpublishedmapsandinstitutionalaffiliations. ThisSpringerimprintispublishedbytheregisteredcompanySpringerNatureSingaporePteLtd. The registered company address is: 152 Beach Road, #21-01/04 Gateway East, Singapore 189721, Singapore Thisbookiswholeheartedlydedicatedtomy respectablesupervisorsduringmygraduate andpostdoctoralstudies,aswellasour groupmembers,withwhomwehaveworked overtheyearsandhavemadeitpossibleto reachthismoment. Tomybelovedfamilies. Preface The rapid development of semiconductor and communication technology enables ustoreadilydeploy,coordinateandcontrolalargenumberofintelligentsensorsor robotsinavarietyofapplications.Comparedtoasingleagentwithlimitedsensing and actuating capabilities, a multi-agent system (MAS) is composed of plenty of intelligentagents(e.g.,smartsensors,robotsandunmannedsystems)thatcommu- nicate with others and team up to fulfill complicated collective missions, such as space exploration, formation control, border patrolling, target interception, region coverage,environmentmonitoring,smuggleseizing,waterpollutionclearance,mate- rialdeliveryandsoon.Byswarmingintelligenceemergedbyindividualagentsand inter-agentinteractions,cooperativecontrolcaneffectivelyenhancetherobustness, adaptabilityandself-organizingcapabilitiesofMASwithlowcostsandhighrelia- bility.Ontheotherhand,coveragecontrolofMAShasbeenwidelyinvestigatedin thepastdecadesduetoitsindispensableroleinwirelesssensornetworks,multi-robot systemsandmultipleunmannedsystems.Essentially,itcentersonhowtomaximize themonitoringregionbysensorsorenlargingthecoveragerateofagiventerrainto guaranteenoareaundetectedintheregionofinterests.Nevertheless,theuncertainties ofexternalenvironmentshavemadeitagreatchallengeforresearcherstodevelop aneffectivecooperativecontrolapproachtofulfillthecoveragetasksingiventime periods,whilemaintainingadesiredlevelofcoveragequality. Todealwiththeaboveissues,thismonographproposesnoveltheoreticalformula- tionsandpracticalmethodologiesforcooperativecoveragecontrolofMASthrough thedivide-and-conquerscheme.Onthewhole,thismonographcanbedividedinto fourparts. Thefirstpartofthismonographpresentstheresearchbackgroundaswellasthe stateofartliteraturereviewoncooperativecoveragecontrolapproachesofMAS.In termsofmulti-robotcoordination,thecooperativecontrolofMAScanbeclassified as sweep coverage, blanket coverage and barrier coverage. According to the final state of agents during the coverage, it can be categorized into static and dynamic coverages. The second part focuses on the theoretical formulation and technical analysis of cooperative coverage control approaches of MAS. First of all, we develop a vii viii Preface distributed workload partition algorithm of MAS in order to divide the coverage regionintomultiplesub-regionswithnearlyequalworkload.Inparticular,theparti- tion error of workload on sub-regions is estimated via the theory of input-to-state stability. Then, a decentralized sweep coverage algorithm of MAS is proposed to completetheworkloadonagivenuncertainregionbyapportioningequalworkload toaseriesofsub-stripes.Asaresult,eachagentonlyneedstosweepitsownsub- stripesandmeanwhilepartitionthefuturestripeinacooperativeway.Moreover,we investigatehowtocoordinatethreeoperationsofsweeping,workloadpartitionand communicationamongagentsinordertoenhancethecoverageefficiency.Finally, a fully distributed coverage algorithm of MAS is designed with the assistance of workloadmemory,andtheinput-to-statestabilityisguaranteedaswell. Thethirdpartprovidesthepracticalapplicationsofcooperativecoveragecontrol of MAS in the various fields (e.g., missile interception, intelligent traffic systems and environment monitoring). In the first case of application, a coverage-based interception approach is designed to enhance the joint probability of interception by integrating the cooperative guidance algorithm and the optimal control law for multipleinterceptorsoflowmaneuverability.Thesecondcasepresentsacoverage- basedcooperative routingalgorithmsforunmanned systemstoalleviatethetraffic congestion in the intelligent transportation system. The third application is illus- tratedinthefieldofenvironmentmonitoringofwirelesssensornetworks,wherea distributedcoverageapproachisproposedtomaximizethedetectionprobabilityof geohazards (e.g., landslides, debris flow and surface collapse) and forest fire for a betterpre-warningmechanism. Thelastpartsummarizesthemaincontributionsinthismonograph,andoutlines somepotentialresearchdirectionsforfuturework. Wuhan,China ChaoZhai Wuhan,China Hai-TaoZhang Singapore,Singapore GaoxiXiao July2021 Acknowledgements Therehavebeenmanypeoplewhohavewalkedalongsidemeduringmyacademic journey.Theyhaveguided,supported,andaccompaniedme.Iwouldliketo,hereby, thankeachofthemsincerely. Firstandforemost,Iwouldliketoexpressmydeepestgratitudetomyrespectable supervisorsProf.YiguangHongatInstituteofSystemsScience,ChineseAcademy ofScience,Beijing,China,andProf.Hai-TaoZhangatSchoolofArtificialIntelli- gence and Automation, Huazhong University of Science and Technology, Wuhan, Chinafortheirunwaveringsupport,encouragementandconstructiveguidance.They, uponwhoseshouldersIstand,exploredandpavedthepathbeforeme.Withouttheir inspiringguidance,thismonographwouldsimplynothavebeenpossible.Besides, I would like to thank my postdoctoral supervisor Prof. Gaoxi Xiao at Nanyang TechnologicalUniversity,Singapore.ProfessorXiaoisalwayswillingtotaketime to listen and usually provide insightful questions and suggestions, as well as clear instructionsasfeedback.Hisunstintingsupportandencouragementhavedrivenme tostriveforexcellence.ManythanksarealsogiventoProf.MarioDiBernardoand Dr.TimeBarkeratUniversityofBristol,Bristol,UnitedKingdom,Prof.FenghuaHe atHarbinInstituteofTechnology,Harbin,China,andProf.MichaelZ.Q.Chenat NanjingUniversityofScienceandTechnology,Nanjing,Chinaforinsightfuldiscus- sionsontheroutingalgorithminintelligenttransportationsystems,thecooperative interceptionagainstsupersonicflightvehiclesanddistributedcoveragecontrolusing workloadmemory. Secondly,specialthanksaregiventomanyofmyfriendsandcolleaguesincluding Dr.GuodongShi,Dr.XiaoliWang,Dr.ShijianChen,Dr.YouchengLou,Dr.Yutao Tang,Dr.XiangruXu,Dr.JiangboZhang,Dr.WenjunSong,Dr.YanqiongZhang,Dr. PengYi,Dr.ZhenhuaDengandDr.YinghuiWangatInstituteofSystemsScience, ChineseAcademyofScience,Dr.BingAiatHuazhongUniversityofScienceand Technology for sharing a wonderful and memorable life with me. In addition, my wholehearted thanks are given to Dr. Hehong Zhang, Dr. Wenqi Du, Dr. Chaolie Ning,Dr.YuankunLiu,Dr.BeibeiLiandDr.MinMengatNanyangTechnological Universityfortheirgeneroussupportandunderstandinggiveninmanymomentsof ix x Acknowledgements crisisovertheyearsinSingapore.Icannotlistallthenameshere,butyouguyshold aspecialplaceinmyheart. Finally,andmostimportantly,mymostheartfeltandforevergratitudegoestomy parentsMr.ShengliZhaiandMrs.XiaohuiZhouandotherfamilymembersincluding Mrs.JuanjuanZhai,Mr.TaoGuoandMrs.JingjingZhai,whohavealwaysbeena constantsourceofsupportandencouragement.Thankstomyparentsforputtingme throughthebesteducationpossibleandgivingmethestrengthtoreachforthestars and chase my academic dream. I appreciate their sacrifices and unending support, andIwouldnothavebeenabletogettothisstagewithoutthem. ThisworkissupportedbytheFundamentalResearchFundsfortheCentralUniver- sities, China University of Geosciences (Wuhan) and is supported in part by the National Natural Science Foundation of China under Grant U1713203, in part by theNaturalScienceFoundation ofHubeiProvinceunderGrant2019CFA005. and theProgramforCoreTechnologyTacklingKeyProblemsofDongguanCityunder Grant2019622101007.ItisalsopartiallysupportedbytheFutureResilientSystem Project(StagesIandII)attheSingapore-ETHCentre(SEC),whichisfundedbythe NationalResearchFoundationofSingapore(NRF)underitsCampusforResearch Excellence and Technological Enterprise (CREATE) program, and also supported byMinistryofEducationofSingaporeunderContractMOE2016-T2-1-119.
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