抄録
The objective of this paper is to solve the dynamic plane covering problem by the movement of multiple robots, such as sprinkling water to a large field by several vehicles or aircrafts. In the problem, all of the points in the field should be covered with an equal density. One of the ways to solve the problem is the swarm leading control method, in which one robot, called a leader, moves along a path in the field, and all the other robots, called followers, move around the leader with a fixed distance. However, because the leader and the followers have asymmetrical relations, the stability condition of the swarm leading control method is unknown. In this paper, introducing a Manhattan norm for distance measurement, the stability condition can be shown and proved. The proposed control method is verified with computational simulations.
