Distributed Harmonic-Covariance Feedback for Hole Closure in Planar Robot Swarms

Key points

• We consider hole closure in a planar multi-agent system whose sensing disks form a time-varying Čech complex.1
• For distributed evaluation, we use a fixed-degree polynomial of the regularized Hodge Laplacian.1
• We assume that hole area is measurable and bounded, holes evolve continuously without splitting or merging, and only finitely many temporary new holes appear.1
• Under these conditions, offline finite calculations produce rational lower bounds for the cumulative hole area on the time horizon without querying trajectory data.1

Sources (1)

• [1]Distributed Harmonic-Covariance Feedback for Hole Closure in Planar Robot Swarms
  arXiv (AI, ML, NLP, CV, robotics, multi-agent) · Oct 8, 06:59 PM

  We propose a harmonic-covariance feedback that uses harmonic edge signals to locate holes and converts those signals into agent forces.

  We consider hole closure in a planar multi-agent system whose sensing disks form a time-varying Čech complex.

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