A cooperative region reconnaissance problem is considered in this paper where a group of agents are required to reconnoitre a region of interest. Amain challenge of this problem is the sensing region of each agent var...A cooperative region reconnaissance problem is considered in this paper where a group of agents are required to reconnoitre a region of interest. Amain challenge of this problem is the sensing region of each agent varies with its altitude within an altitude constraint. Meanwhile, the reconnaissance ability of an agent is determined by its altitude and radial distance. First, the region reconnaissance is formulated as an effective coverage problem, which means that each point in the given region should be surveyed until a preset level is achieved. Then, an effective coverage control law is proposed to minimize coverage performance index by adjusting the altitude of an agent. Finally, the effectiveness of the proposed control law is verified through numerical simulations.展开更多
基金This research work was partially supported by the National Natural Science Foundation of China （Nos. 61473099, 61333001 ）.
文摘A cooperative region reconnaissance problem is considered in this paper where a group of agents are required to reconnoitre a region of interest. Amain challenge of this problem is the sensing region of each agent varies with its altitude within an altitude constraint. Meanwhile, the reconnaissance ability of an agent is determined by its altitude and radial distance. First, the region reconnaissance is formulated as an effective coverage problem, which means that each point in the given region should be surveyed until a preset level is achieved. Then, an effective coverage control law is proposed to minimize coverage performance index by adjusting the altitude of an agent. Finally, the effectiveness of the proposed control law is verified through numerical simulations.
