Skip to main content
eScholarship
Open Access Publications from the University of California

UC San Diego

UC San Diego Electronic Theses and Dissertations bannerUC San Diego

Singular Perturbation Method for Multiagent Coverage Control Using Time-Varying Density Functions

  • Author(s): Gandarillas, Victor
  • Advisor(s): Cortes, Jorge
  • et al.
Abstract

This paper presents a continuous-time coverage algorithm based on the singu- lar perturbations method. The algorithm generates a control for a network of autonomous agents. The algorithm is distributed in the sense that the agents need only information about their neighbors. The singular perturbation method is applied as a means to update the control at a faster time scale to approach performance of a centralized approach. The paper concludes with results from simulations and experiment.

Main Content
Current View