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UID:0-358@aerospace.technion.ac.il

DTSTART;TZID=Asia/Jerusalem:20181210T163000

DTEND;TZID=Asia/Jerusalem:20181210T173000

DTSTAMP:20230527T135539Z

URL:https://aerospace.technion.ac.il/events/a-projected-lloyds-algorithm-f
 or-coverage-control-problems/

SUMMARY:A Projected Lloyd’s Algorithm for Coverage Control Problems
DESCRIPTION:Lecturer:Yoav Palti\n Faculty:Department of Aerospace Engineeri
 ng\n Institute:Technion – Israel Institute of Technology\n Location:Clas
 sroom 165\, ground floor\, Library\, Aerospace Eng.\n Zoom: \n Abstract: \
 n Details: \n This work presents a new approach for solving the coverage p
 roblem for large areas given a limited number of sensors. We consider the
  problem where there is a given area needed to be covered\, however there
  are not enough sensors to provide complete coverage of the designated ar
 ea at once. Furthermore\, we require that at each stage of coverage\, a s
 ub-region in the area is constantly monitored. Lastly\, we desire a coordi
 nated formation\, where the distance between the agents is controlled.\nT
 he solution approach is a combination of two algorithms. First\, the area 
 is being partitioned into sub-regions using a modified version of the wel
 l known Lloyd’s Algorithm that we term the Projected Lloyd’s Algorith
 m. Then\, for each sub region\, we utilize Lloyd’s Algorithm. For the c
 oordinate formation\, we combined Lloyd’s Algorithm with formation contr
 oller.\nThe new algorithm\, projected Lloyd's algorithm\, is used for cons
 training the area partitioning to include the required sub-region in each
  partition\, and it’s being achieved by projecting the algorithm result
 s onto the constrained polygon. Another concept that was tested is combin
 ing the Lloyd's algorithm strategy with distance-based formation control\,
  which resulted with stable controller. The strategies were tested using 
 numerical simulations.
CATEGORIES:Seminars
LOCATION:Classroom 165\, ground floor\, Library\, Aerospace Eng.

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