Multi Agent Coverage Control Simulation
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Coverage:
Cost:
Objective:
Debug
Time:
Number of Agents:
; Selected Agent:
Display Coverage Density:
; Real Agents:
Sensing Range:
Sensing Decay:
[Cost / Sensing] Ratio (w
2i
):
; (Cost γ
i
:
)
Normalization Factor (w
1
):
; (PGD weight β:
)
Discretization Level (Px.):
Step Size:
Step Size Multiplier:
1
0.1
0.01
Greedy Methods, n:
Discretized Points:
Generate
Adjust
Centralized Greedy
Gen. G.
Stoch. G.(ε)
ε
Distributed Greedy
Rand. G.(m)
Seqen. G.
m
Deploy
Approx.F.
Deploy
Decentralized Boosting Method:
Centralized
Decentralized
Variable Steps:
; (-)ve Steps
;
Est. K
1
Globally
Auto Tune K_1
;
Est. K
1
Locally
Dim. Step (α
k
=K
0
/k
r
):
; r:
K
0
:
Load Obstacle Setup:
Blank
General
Room
Maze
Narrow
Select Obstacle:
Add New Obstacle:
Add New
Finish It
Obstacle Coordinates:
Select Data:
Console
Positions
Derivatives
Beta*
Save Data:
Save Data
Plot Data:
Plot Data
Trajectory:
Pick Points
Follow
Particle Swarm Optimization:
Solve PSO
Play
Stop
N
Φ
P
Φ
G
W
N
it