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• W3100296869 abstract "We present a decentralized ergodic control policy for time-varying area coverage problems for multiple agents with nonlinear dynamics. Ergodic control allows us to specify distributions as objectives for area coverage problems for nonlinear robotic systems as a closed-form controller. We derive a variation to the ergodic control policy that can be used with consensus to enable a fully decentralized multi-agent control policy. Examples are presented to illustrate the applicability of our method for multi-agent terrain mapping as well as target localization. An analysis on ergodic policies as a Nash equilibrium is provided for game theoretic applications." @default.
• W3100296869 created "2020-11-23" @default.
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• W3100296869 date "2018-10-01" @default.
• W3100296869 modified "2023-10-13" @default.
• W3100296869 title "Decentralized Ergodic Control: Distribution-Driven Sensing and Exploration for Multiagent Systems" @default.
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• W3100296869 doi "https://doi.org/10.1109/lra.2018.2849588" @default.
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