Self-triggered coordination of robotic networks for optimal deployment

Abstract

This paper studies a coverage control problem for multi-vehicle systems where individual agents operate with out dated information about each others' locations. Our objective is to understand to what extent this outdated information is still useful and at which point it becomes essential to obtain new, up-to-date information. We propose a self-triggered coordination algorithm based on spatial partitioning techniques with uncertain information and verify its correctness using tools from computational geometry, stability theory, set-valued analysis, and event-based systems.