Optimal deployment of heterogeneous mobile agents on a circle

Abstract

In this paper optimal deployment of a network of mobile agents with different maximum traveling speed is considered, where the agents are constrained to move on a circle. The goal is to drive the multi-agent network to ¿nal con¿gurations such that the shortest arrival time from the mobile agents to any point on the circle is minimized. A necessary and suf¿cient condition for optimal network con¿guration is ¿rstly given. Then, distributed control laws are developed to drive the mobile agents to the optimal con¿guration. Finally, the results are extended to the case of mobile agents with identical maximum speed. A simulation example is also provided to illustrate the effectiveness of the proposed algorithm.