Collision Avoidance for Non-Cooperative Multi-Swarm Coverage Control with Bounded Disturbance Measurements

TL;DR

This paper introduces a novel collision avoidance algorithm for multiple non-cooperative swarms operating under bounded disturbances, ensuring safe coverage despite measurement uncertainties.

Contribution

It presents a new methodology that accounts for measurement uncertainties in disturbances, enabling collision-free multi-swarm coverage control.

Findings

Algorithm successfully prevents collisions in simulated environments.

Method effectively handles bounded disturbance measurement uncertainties.

Simulations confirm reliable coverage in disturbed environments.

Abstract

This paper proposes a new algorithm for collision-free coverage control of multiple non-cooperating swarms in the presence of bounded disturbances. A new methodology is introduced that accounts for uncertainties in disturbance measurements. The proposed methodology is used to develop an algorithm that ensures collision-free motion in multi-swarm coverage control, specifically for cases where disturbances are present and their measurements are subject to bounded uncertainty. The theoretical results are validated through simulations of multiple swarms that independently aim to cover a given region in an environment with disturbances.