レジリエントな監視システムを実現する被覆制御

抄録

Distributed coverage control is expected to be promising solution for stable operation of the large scale monitoring system, and one of the most commonly used methods is the Lloyd algorithm. However, when this algorithm is used, the result sometimes converges to a local optimal deployment. To avoid this problem, Voronoi based cut-in algorithm has been proposed and proved to derive the optimal deployment deterministically. From a practical point of view, however, the coverage system should be resilient under fuel exhaustion or sensor failure by minimizing the performance degradation and recovering its performance. Therefore, in this paper, we propose a resilient coverage control based on Voronoi based cut-in algorithm, so that remaining sound robots and newly added robots can maximize the total coverage performance. Through simulations and experiments, our proposed algorithm has shown better performance than the conventional coverage control.