Scholarlink

<p>This paper addresses the coverage control problem for multi-agent system while ensuring persistent connectivity among unmanned aerial vehicles (UAVs). A Voronoi-based partitioning method is employed to optimize area coverage, and algebraic connectivity—a spectral measure derived from the graph Laplacian—is utilized to quantify network connectivity. The system is deemed connected when algebraic connectivity remains positive. To enforce connectivity guarantees, control barrier functions (CBFs) are integrated to constrain the algebraic connectivity above a predefined threshold <InlineEquation ID="IEq1"> <EquationSource Format="TEX">\(\lambda_{2} &gt; \varepsilon\)</EquationSource> </InlineEquation>. Notably, since algebraic connectivity is inherently a global metric and incompatible with distributed architectures, a novel distributed estimation strategy is proposed to approximate this metric locally, eliminating reliance on centralized computation. The proposed approach not only resolves the challenge of implementing global connectivity metrics in distributed frameworks but also circumvents the inflexibility inherent in local methods that rigidly preserve initial connectivity structures. The proposed algorithm introduces minimal modifications to the baseline Voronoi coverage controller, ensuring that connectivity constraints are satisfied while preserving the maximum operational flexibility for the primary coverage task. The simulation results show that the proposed algorithm not only has a good coverage effect, but also can always maintain the algebraic connectivity greater than the expected threshold, ensuring the connectivity of the UAVs.</p>

错误：搜索内容不能为空，请输入英文关键词
错误：关键词超出字数限制，请精简
高级检索

Maintaining connectivity in coverage control: a distributed algebraic connectivity estimation approach using control barrier functions

  • 期刊论文

  • 发表日期：

    2025年11月28日

查看全文
  • Junwu Li,
  • Chenggang Wang,
  • Bochen Li,
  • Qiang Wei,
  • Lei Song,
  • Dan Huang

摘要

This paper addresses the coverage control problem for multi-agent system while ensuring persistent connectivity among unmanned aerial vehicles (UAVs). A Voronoi-based partitioning method is employed to optimize area coverage, and algebraic connectivity—a spectral measure derived from the graph Laplacian—is utilized to quantify network connectivity. The system is deemed connected when algebraic connectivity remains positive. To enforce connectivity guarantees, control barrier functions (CBFs) are integrated to constrain the algebraic connectivity above a predefined threshold \(\lambda_{2} > \varepsilon\) . Notably, since algebraic connectivity is inherently a global metric and incompatible with distributed architectures, a novel distributed estimation strategy is proposed to approximate this metric locally, eliminating reliance on centralized computation. The proposed approach not only resolves the challenge of implementing global connectivity metrics in distributed frameworks but also circumvents the inflexibility inherent in local methods that rigidly preserve initial connectivity structures. The proposed algorithm introduces minimal modifications to the baseline Voronoi coverage controller, ensuring that connectivity constraints are satisfied while preserving the maximum operational flexibility for the primary coverage task. The simulation results show that the proposed algorithm not only has a good coverage effect, but also can always maintain the algebraic connectivity greater than the expected threshold, ensuring the connectivity of the UAVs.