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Information-based Optimal Deployment for a Group of Dynamic Unicycles

Maode Yan, Yaoren Guo, Lei Zuo*, and Panpan Yang
International Journal of Control, Automation, and Systems, vol. 16, no. 4, pp.1824-1832, 2018

Abstract : "In this paper, we investigate the optimal deployment problems for a group of dynamic unicycles in a given region. The information of interests over this region is considered such that the region with higher interests can get more attentions. Firstly, we present a cost function to describe the performance of multi-unicycle systems and find out the optimal locations for unicycles. Then, we transform this information-based optimal deployment problem into a moving target tracking problem and propose a novel kinematic control protocol to drive unicycles to the optimal locations. On this basis, an algorithm is provided for the dynamic unicycles by using the back-stepping techniques. Moreover, we demonstrate the stability and convergence of the proposed multi-unicycle systems. Finally, numerical simulations are provided to illustrate the effectiveness of the proposed approaches."

Keyword : Back-stepping Techniques, cost function, dynamic unicycles, information-based optimal deployment.

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