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Decentralised coverage of a large structure using flocking of autonomous agents having a dynamic hierarchy model

Nath, S and Baishya, M and Ghose, D (2022) Decentralised coverage of a large structure using flocking of autonomous agents having a dynamic hierarchy model. In: Autonomous Robots .

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Official URL: https://doi.org/10.1007/s10514-022-10041-0


In this paper, we present a decentralised algorithm to form a coverage around a large structure using autonomous sensor agents. Forming a coverage around a structure is defined using a set of objectives. Structures are formally categorised into objects and obstacles, and defined based on the application. We use the notion of a multi-species flocking algorithm for achieving a proper coverage formation. We modify the basic algorithm substantially by introducing a new virtual agent that aids in positioning of the flocking agents along with stability analysis, incorporating a dynamic hierarchy among the flocking agents, and defining novel controls based on shearing and screwing actions to spread the agents uniformly around the structure. Each species of agents is defined and their roles in the algorithm justified. We discuss special cases and challenging scenarios that can potentially hinder smooth implementation of the algorithm and suggest approaches to overcome them. The method is applied to both convex and non-convex objects in 2D, as well as, 3D. Time of convergence and coverage energy are used as metrics to assess the performance of the system and are studied through extensive simulations. © 2022, The Author(s), under exclusive licence to Springer Science+Business Media, LLC, part of Springer Nature.

Item Type: Journal Article
Publication: Autonomous Robots
Publisher: Springer
Additional Information: The copyright for this article belongs to Springer
Keywords: Autonomous sensors; Coverage; Decentralised; Decentralized algorithms; Flocking; Flocking algorithms; Hierarchy; Hierarchy models; Large structures; Multi-species, Autonomous agents
Department/Centre: Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited: 19 May 2022 05:57
Last Modified: 19 May 2022 05:57
URI: https://eprints.iisc.ac.in/id/eprint/72023

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