PMID- 32697733
OWN - NLM
STAT- PubMed-not-MEDLINE
LR  - 20220406
IS  - 2168-2275 (Electronic)
IS  - 2168-2267 (Linking)
VI  - 52
IP  - 4
DP  - 2022 Apr
TI  - Heterogeneity-Aware Graph Partitioning for Distributed Deployment of Multiagent 
      Systems.
PG  - 2578-2588
LID - 10.1109/TCYB.2020.3005116 [doi]
AB  - In this work, we examine the distributed coverage control problem for deploying a 
      team of heterogeneous robots with nonlinear dynamics in a partially known 
      environment modeled as a weighted mixed graph. By defining an optimal tracking 
      control problem, using a discounted cost function and state-dependent Riccati 
      equation (SDRE) approach, a new partitioning algorithm is proposed to capture the 
      heterogeneity in robots dynamics. The considered partitioning cost, which is a 
      state-dependent proximity metric, penalizes both the tracking error and the 
      control input energy that occurs during the movement of a robot, on a straight 
      line, to an arbitrary node of the graph in a predefined finite time. We show that 
      the size of the subgraph associated with each robot depends on its resources and 
      capabilities in comparison to its neighbors. Also, a distributed deployment 
      strategy is proposed to optimally distribute robots aiming at persistently 
      monitoring specified regions of interest. Finally, a series of simulations and 
      experimental studies is carried out to demonstrate the viability and efficacy of 
      the proposed methodology in deploying heterogeneous multiagent systems.
FAU - Davoodi, Mohammadreza
AU  - Davoodi M
FAU - Velni, Javad Mohammadpour
AU  - Velni JM
LA  - eng
PT  - Journal Article
DEP - 20220405
PL  - United States
TA  - IEEE Trans Cybern
JT  - IEEE transactions on cybernetics
JID - 101609393
SB  - IM
EDAT- 2020/07/23 06:00
MHDA- 2020/07/23 06:01
CRDT- 2020/07/23 06:00
PHST- 2020/07/23 06:00 [pubmed]
PHST- 2020/07/23 06:01 [medline]
PHST- 2020/07/23 06:00 [entrez]
AID - 10.1109/TCYB.2020.3005116 [doi]
PST - ppublish
SO  - IEEE Trans Cybern. 2022 Apr;52(4):2578-2588. doi: 10.1109/TCYB.2020.3005116. Epub 
      2022 Apr 5.