Distributed Control Strategy for Layered Barrier Coverage of Multi-Agent Systems in Uncertain Environments

TL;DR

This paper introduces a distributed multi-layer barrier coverage algorithm for multi-agent systems that enhances security and monitoring probability in uncertain environments, validated through theoretical analysis and simulations.

Contribution

It proposes a novel distributed multi-layer barrier coverage algorithm combining single-layer strategies with inter-layer adjustments for improved security.

Findings

Algorithm effectively increases monitoring probability.

Multi-layer approach enhances security against risks.

Validated through simulations and theoretical analysis.

Abstract

This paper presents a distributed multi-layer ring barrier coverage algorithm. In order to achieve single-layer ring barrier coverage, a distributed single-layer ring barrier coverage algorithm that maximises the probability of monitoring is proposed. Considering the security risks of single-layer barrier coverage, a distributed adjustment mechanism between multiple layers of barriers is designed and combined with the single-layer ring barrier coverage algorithm to propose a distributed multi-layer ring barrier coverage algorithm. Furthermore, we present a theoretical analysis of the proposed algorithm to demonstrate its effectiveness and necessity. Finally, our algorithm is verified by numerical simulation and experiment.