High-Perception-Area Collaborative Exploration of Double-Integrator Robots in Parabolic-Type Diffusion Fields With Partially Unknown Information

• 成果类型: Article
• 署名作者: Li, Rui-Guo; Wang, Liang; Wu, Huai-Ning
• 署名单位: Tiangong University; Shenzhen University; Beihang University
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2026.3682211
• 发表日期: 2026
• 关键词: OUTPUT-FEEDBACK CONTROL; coverage control; observers; systems; input

摘要

This article solves a high-perception-area collaborative exploration issue for double-integrator robots in 2-dimensional parabolic-type diffusion scalar fields with partially unknown information. In the absence of surrounding field density information for robots, a distributed field density observer with adaptive update laws and event-triggering mechanisms is built to approximate necessary field density information. Taking into account of the scenario that robot's actual velocity is unmeasurable, we design a prescribed-time velocity estimator to compensate unavailable velocity information along a setting time. Coupled by the field density observer and prescribed-time velocity estimator, a velocity-free guidance law with event-triggering mechanisms is developed for robots to complete the high-perception-area collaborative exploration task under locally available field density information. For the proposed theory, we perform simulation tests to validate the feasibility of the provided scheme.