This paper focuses on a robotic lighting system composed of multiple LED lights, each of which has a pan-tilt mechanism and a distributed controller. For the system, we consider the control of pan-tilt angles such that the actual illuminance distribution is similar to a desired one. We first formulate the design problem of distributed controllers which determines pan-tilt angles of LED lights by using the information on desired illuminance distributions. Then, we propose distributed controllers based on the idea of a coverage control method for multi-agent systems. Furthermore, we develop an experiment system with 16 LED lights. Finally, the effectiveness of the proposed control method is confirmed through simulation and experiments with the developed system.
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