Pregled bibliografske jedinice broj: 1174839
Real-time planning for the cooperative discovery of unknown graph by the multi-agent dynamical system
Real-time planning for the cooperative discovery of unknown graph by the multi-agent dynamical system // 8th European Congress of Mathematics, Book of Abstracts
Portorož, 2021. str. 659-659 doi:10.26493/978-961-293-083-7 (predavanje, međunarodna recenzija, sažetak, znanstveni)
CROSBI ID: 1174839 Za ispravke kontaktirajte CROSBI podršku putem web obrasca
Naslov
Real-time planning for the cooperative discovery of unknown graph by the multi-agent dynamical system
Autori
Zovko, Mila ; Crnković, Bojan ; Ivić, Stefan
Vrsta, podvrsta i kategorija rada
Sažeci sa skupova, sažetak, znanstveni
Izvornik
8th European Congress of Mathematics, Book of Abstracts
/ - Portorož, 2021, 659-659
Skup
8th European Congres of Mathematics
Mjesto i datum
Portorož, Slovenija, 20.06.2021. - 26.06.2021
Vrsta sudjelovanja
Predavanje
Vrsta recenzije
Međunarodna recenzija
Ključne riječi
heat equation, search, graph, multi-agent system
Sažetak
We propose a solution to the problem of discovering an unknown graph by the multi-agent dynamical system. The basic idea for the proposed algorithm comes from the HEDAC (Heat Equation Driven Area Coverage) method introduced by Ivi ́c, Crnkovi ́c and Mezi ́c in [1]. This method has al- ready been successfully applied for motion control for multi-agent non-uniform spraying [2] and for motion control for autonomous heterogeneous multi-agent area search in uncertain con- ditions [3]. The proposed algorithm uses a potential field to discover an unknown graph with a built- in cooperative behavior of agents which includes collision avoidance, coverage coordination, and optimal path planning. The algorithm is robust, adaptive, scalable and computationally inexpensive which enables real-time planning. We will present the application of the proposed algorithm for discovering different types of graphs. As the problem of discovering an unknown graph is related to the examination of social networks, computer networks and maze exploration, the proposed algorithm will be applied in solving problems in this area.
Izvorni jezik
Engleski
Znanstvena područja
Matematika, Računarstvo, Temeljne tehničke znanosti
POVEZANOST RADA
Projekti:
HRZZ-IP-2019-04-1239 - Operatori pomaka, statistički zakoni i beskonačno-dimenzionalni dinamički sustavi (TOSLDS) (Dragičević, Davor, HRZZ - 2019-04) ( CroRIS)
