Distributed coverage control with mobile robots: A potential game approach
Yıl: 2023 Cilt: 12 Sayı: 4 Sayfa Aralığı: 1271 - 1281 Metin Dili: İngilizce DOI: 10.28948/ngumuh.1293191 İndeks Tarihi: 23-10-2023
Distributed coverage control with mobile robots: A potential game approach
Öz: The use of mobile robots in industrial applications has led to a demand for autonomous multi-robot systems with robust and distributed algorithms. A critical objective in such systems is coverage control, where a team of mobile robots need to respond to spatiotemporal events in a bounded region. Here, we address a specific coverage problem, where a group of mobile robots are tasked with responding to events by covering specific locations on two sides of a linear workstation. We formulate the problem as a game played by the mobile robots with well-designed player strategies, and we demonstrate that the resulting framework is a potential game based on equally shared utilities among the robots. The proposed framework is distributed and decentralized, allowing for anonymous identities and constrained sensing capabilities in the robots. A set of simulation studies verify our approach.
Anahtar Kelime: Mobil robotlar ile dağıtık kapsama kontrolü: Bir potansiyel oyun yaklaşımı
Öz: Endüstriyel uygulamalarda mobil robotların kullanımı, gürbüz ve dağıtık algoritma içeren otonom çoklu-robot sistemlerine bir gereksinim oluşturmuştur. Bir robot takımının sınırlı bir alanda uzaysal-zamansal olaylara cevap vermesi anlamına gelen kapsama kontrolü bu tür sistemlerde kritik bir hedeftir. Bu çalışmada, bir grup mobil robotun doğrusal bir iş istasyonunun iki tarafında belirli lokasyonları kapsamakla görevli olduğu özel bir kapsama problemini ele alıyoruz. Problemi iyi kurgulanmış oyuncu stratejileri ile mobil robotlar arasında oynanan bir oyun olarak formalize ediyor ve ortaya çıkan yapının eşit paylaşılan fayda temelli bir potansiyel oyun olduğunu gösteriyoruz. Sunulan yapı, robotlarda anonim kimlikler ve kısıtlı algılama yeteneklerine izin veren dağıtık ve merkezi olmayan bir yapıdır. Bir grup simülasyon çalışması yaklaşımımızı doğrulamaktadır.
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| APA | Guler S (2023). Distributed coverage control with mobile robots: A potential game approach. , 1271 - 1281. 10.28948/ngumuh.1293191 |
| Chicago | Guler Samet Distributed coverage control with mobile robots: A potential game approach. (2023): 1271 - 1281. 10.28948/ngumuh.1293191 |
| MLA | Guler Samet Distributed coverage control with mobile robots: A potential game approach. , 2023, ss.1271 - 1281. 10.28948/ngumuh.1293191 |
| AMA | Guler S Distributed coverage control with mobile robots: A potential game approach. . 2023; 1271 - 1281. 10.28948/ngumuh.1293191 |
| Vancouver | Guler S Distributed coverage control with mobile robots: A potential game approach. . 2023; 1271 - 1281. 10.28948/ngumuh.1293191 |
| IEEE | Guler S "Distributed coverage control with mobile robots: A potential game approach." , ss.1271 - 1281, 2023. 10.28948/ngumuh.1293191 |
| ISNAD | Guler, Samet. "Distributed coverage control with mobile robots: A potential game approach". (2023), 1271-1281. https://doi.org/10.28948/ngumuh.1293191 |
| APA | Guler S (2023). Distributed coverage control with mobile robots: A potential game approach. Niğde Ömer Halisdemir Üniversitesi Mühendislik Bilimleri Dergisi, 12(4), 1271 - 1281. 10.28948/ngumuh.1293191 |
| Chicago | Guler Samet Distributed coverage control with mobile robots: A potential game approach. Niğde Ömer Halisdemir Üniversitesi Mühendislik Bilimleri Dergisi 12, no.4 (2023): 1271 - 1281. 10.28948/ngumuh.1293191 |
| MLA | Guler Samet Distributed coverage control with mobile robots: A potential game approach. Niğde Ömer Halisdemir Üniversitesi Mühendislik Bilimleri Dergisi, vol.12, no.4, 2023, ss.1271 - 1281. 10.28948/ngumuh.1293191 |
| AMA | Guler S Distributed coverage control with mobile robots: A potential game approach. Niğde Ömer Halisdemir Üniversitesi Mühendislik Bilimleri Dergisi. 2023; 12(4): 1271 - 1281. 10.28948/ngumuh.1293191 |
| Vancouver | Guler S Distributed coverage control with mobile robots: A potential game approach. Niğde Ömer Halisdemir Üniversitesi Mühendislik Bilimleri Dergisi. 2023; 12(4): 1271 - 1281. 10.28948/ngumuh.1293191 |
| IEEE | Guler S "Distributed coverage control with mobile robots: A potential game approach." Niğde Ömer Halisdemir Üniversitesi Mühendislik Bilimleri Dergisi, 12, ss.1271 - 1281, 2023. 10.28948/ngumuh.1293191 |
| ISNAD | Guler, Samet. "Distributed coverage control with mobile robots: A potential game approach". Niğde Ömer Halisdemir Üniversitesi Mühendislik Bilimleri Dergisi 12/4 (2023), 1271-1281. https://doi.org/10.28948/ngumuh.1293191 |
