Grid-Free Search and Exploration using Modified Cyclic Pursuit

摘要

In this paper the idea of heterogeneous cyclic pursuit has been used for coverage of a given area. In existing literature such missions are mostly accomplished by decomposing the search space into cells and then using agents to visit these cells, which is a costly and memory intensive process. The present paper does not rely on such cellular grids to explore an unknown area. By using a novel convergent-divergent heterogeneous cyclic pursuit scheme, it has been shown that a given area can be completely covered. The choice of gains, for heterogeneous cyclic pursuit, and other parameters in the proposed algorithm can be made in a distributed fashion. The efficacy of the proposed algorithm is supported by simulations.