Multi-Agent Coverage Control on Surfaces Using Conformal Mapping

TL;DR

This paper introduces a conformal mapping-based approach for multi-agent coverage control on complex surfaces, simplifying path planning and enabling effective environmental monitoring through distributed control laws and numerical validation.

Contribution

It presents a novel method transforming surface environments into 2D disks for easier coverage control, including distortion correction and application to surface deformation monitoring.

Findings

Effective coverage achieved in simulated environments

Distortion correction improves mapping accuracy

Applicable to surface deformation scenarios

Abstract

Real-time environmental monitoring using a multi-agent system (MAS) has long been a focal point of cooperative control. It is still a challenging task to provide cost-effective services for potential emergencies in surface environments. This paper explores the transformation of a general surface into a two-dimensional (2D) disk through the construction of a conformal mapping. Multiple agents are strategically deployed within the mapped convex disk, followed by mapping back to the original surface environment. This approach circumvents the complexities associated with handling the difficulties and intricacies of path planning. Technical analysis encompasses the design of distributed control laws and the method to eliminate distortions introduced by the mapping. Moreover, the developed coverage algorithm is applied to a scenario of monitoring surface deformation. Finally, the effectiveness of the proposed algorithm is validated through numerical simulations.