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12 April 2021 A comparison of coverage control techniques for decentralized swarms of autonomous agents
Anthony Bloch
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Proceedings Volume 11753, Open Architecture/Open Business Model Net-Centric Systems and Defense Transformation 2021; 117530E (2021) https://doi.org/10.1117/12.2589563
Event: SPIE Defense + Commercial Sensing, 2021, Online Only
Abstract
Five algorithms are implemented for coverage control techniques for decentralized swarms of autonomous agents. Some of the algorithms are used for covering an area in general while others are intended for covering an area with an underlying priority density function. Standard Lloyd’s algorithm and Basic Weighted Lloyd’s algorithm are used as baselines in the analysis against three new algorithms: Even Distribution, Biased Weighted Lloyd’s, and Evolutionary. Experimental results demonstrate that each of these new algorithms improve the quality of the agents’ performance by either reducing coverage cost or distance travelled and/or time spent settling into an equilibrium formation.
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Anthony Bloch "A comparison of coverage control techniques for decentralized swarms of autonomous agents", Proc. SPIE 11753, Open Architecture/Open Business Model Net-Centric Systems and Defense Transformation 2021, 117530E (12 April 2021); https://doi.org/10.1117/12.2589563
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Evolutionary algorithms
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