Guaranteed Voronoi-based Deployment for Multi-Agent Systems under Uncertain Measurements

In this paper, a decentralized robust tube-based model predictive control algorithm is used for two-dimensional Voronoi-based deployment of a multi-agent system in a bounded convex area, where the planar motion of each agent is subject to uncertain measurements. A bias bounded by a rectangle is thus considered for each agent's position measurement. The convex area of deployment is then partitioned into guaranteed Voronoi cells separated by a bounded unauthorized corridor. By using a decentralized robust predictive control, each agent is guaranteed to evolve inside the safety region defined by the agent's guaranteed Voronoi cell and to converge to a point in a set centered on the Chebyshev center of this cell, driving the multi-agent system into a static configuration. Simulation results show the effectiveness of the proposed decentralized control strategy on a fleet of quadrotors when one of the agents is subject to a measurement bias due to a sensor fault.