{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,18]],"date-time":"2026-07-18T15:52:52Z","timestamp":1784389972502,"version":"3.55.0"},"reference-count":32,"publisher":"World Scientific Pub Co Pte Ltd","issue":"05","funder":[{"DOI":"10.13039\/501100012166","name":"National Key Research and Development Program of China","doi-asserted-by":"publisher","award":["2022YFA1004703"],"award-info":[{"award-number":["2022YFA1004703"]}],"id":[{"id":"10.13039\/501100012166","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Un. Sys."],"published-print":{"date-parts":[[2025,9]]},"abstract":"<jats:p>This paper investigates the problem of multi-agent ergodic surveillance of multiple targets whose spatial distribution was previously unknown. A distributed adaptive control framework is developed, enabling agents to cooperatively estimate the target density and generate ergodic surveillance trajectories through local communication. The proposed method leverages a Fourier-based distributed density estimation approach, which is computationally efficient and robust to measurement noise. The Spectral Multi-scale Coverage (SMC) ergodic control strategy is extended to a decentralized, discrete-time formulation suitable for distributed implementation. Additionally, the Optimal Reciprocal Collision Avoidance (ORCA) algorithm is integrated to ensure collision avoidance among agents. The effectiveness and advantages of the proposed framework are demonstrated through simulations and real-world experiments, showing improved efficiency and accuracy in multi-agent surveillance tasks.<\/jats:p>","DOI":"10.1142\/s2301385025440054","type":"journal-article","created":{"date-parts":[[2025,8,1]],"date-time":"2025-08-01T02:17:00Z","timestamp":1754014620000},"page":"1335-1347","source":"Crossref","is-referenced-by-count":1,"title":["Multi-Agent Ergodic Surveillance under Unknown Target Distribution"],"prefix":"10.1142","volume":"13","author":[{"ORCID":"https:\/\/orcid.org\/0009-0003-6727-2377","authenticated-orcid":false,"given":"Shaozhun","family":"Wei","sequence":"first","affiliation":[{"name":"School of Automation, Beijing Institute of Technology, Beijing 100081, P. R. China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0002-6925-7798","authenticated-orcid":false,"given":"Yangxi","family":"Shi","sequence":"additional","affiliation":[{"name":"School of Automation, Beijing Institute of Technology, Beijing 100081, P. R. China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9627-0325","authenticated-orcid":false,"given":"Hao","family":"Fang","sequence":"additional","affiliation":[{"name":"School of Automation, Beijing Institute of Technology, Beijing 100081, P. R. China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0003-8063-5806","authenticated-orcid":false,"given":"Jizhou","family":"Ou","sequence":"additional","affiliation":[{"name":"Hunan Vanguard Group Co., Ltd., Changsha 410100, P. R. China"},{"name":"Harbin Institute of Technology, Harbin 150006, P. R. China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4397-6401","authenticated-orcid":false,"given":"Jie","family":"Chen","sequence":"additional","affiliation":[{"name":"Harbin Institute of Technology, Harbin 150006, P. R. China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"219","published-online":{"date-parts":[[2025,9,12]]},"reference":[{"key":"S2301385025440054BIB001","doi-asserted-by":"publisher","DOI":"10.1142\/S2301385018400046"},{"key":"S2301385025440054BIB002","doi-asserted-by":"publisher","DOI":"10.1142\/S2301385022500170"},{"key":"S2301385025440054BIB003","doi-asserted-by":"publisher","DOI":"10.1142\/S230138501550003X"},{"key":"S2301385025440054BIB004","doi-asserted-by":"publisher","DOI":"10.7554\/eLife.52371"},{"key":"S2301385025440054BIB005","volume-title":"Ergodic Theory","author":"Petersen K. E.","year":"1989"},{"key":"S2301385025440054BIB006","doi-asserted-by":"publisher","DOI":"10.23919\/ACC.2018.8430857"},{"key":"S2301385025440054BIB007","doi-asserted-by":"publisher","DOI":"10.1016\/j.physd.2010.10.010"},{"key":"S2301385025440054BIB008","doi-asserted-by":"publisher","DOI":"10.1109\/TASE.2020.3043636"},{"key":"S2301385025440054BIB009","doi-asserted-by":"publisher","DOI":"10.23919\/ACC45564.2020.9147930"},{"key":"S2301385025440054BIB010","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2013.6580484"},{"key":"S2301385025440054BIB011","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2012.6426212"},{"key":"S2301385025440054BIB012","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2013.6760585"},{"key":"S2301385025440054BIB013","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2017.2766265"},{"key":"S2301385025440054BIB014","doi-asserted-by":"publisher","DOI":"10.1109\/TCYB.2016.2634400"},{"key":"S2301385025440054BIB015","doi-asserted-by":"publisher","DOI":"10.1016\/j.engappai.2022.105441"},{"key":"S2301385025440054BIB016","doi-asserted-by":"publisher","DOI":"10.1109\/TCYB.2020.3022952"},{"key":"S2301385025440054BIB017","doi-asserted-by":"publisher","DOI":"10.1016\/j.asoc.2019.05.001"},{"key":"S2301385025440054BIB019","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2016.7525371"},{"key":"S2301385025440054BIB020","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6225106"},{"key":"S2301385025440054BIB021","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3094242"},{"key":"S2301385025440054BIB022","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2849588"},{"key":"S2301385025440054BIB023","doi-asserted-by":"publisher","DOI":"10.1609\/icaps.v27i1.13816"},{"key":"S2301385025440054BIB024","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9561257"},{"key":"S2301385025440054BIB025","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907210"},{"key":"S2301385025440054BIB026","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48891.2023.10161032"},{"key":"S2301385025440054BIB027","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2015.7354200"},{"key":"S2301385025440054BIB028","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2015.2500441"},{"key":"S2301385025440054BIB029","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA57147.2024.10611286"},{"key":"S2301385025440054BIB030","doi-asserted-by":"publisher","DOI":"10.1142\/S2301385019400065"},{"key":"S2301385025440054BIB031","doi-asserted-by":"publisher","DOI":"10.1002\/047134608X.W1046"},{"key":"S2301385025440054BIB032","doi-asserted-by":"publisher","DOI":"10.1109\/JPROC.2006.887293"},{"key":"S2301385025440054BIB033","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-19457-3_1"}],"container-title":["Unmanned Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.worldscientific.com\/doi\/pdf\/10.1142\/S2301385025440054","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,22]],"date-time":"2025-10-22T09:50:56Z","timestamp":1761126656000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.worldscientific.com\/doi\/10.1142\/S2301385025440054"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,9]]},"references-count":32,"journal-issue":{"issue":"05","published-print":{"date-parts":[[2025,9]]}},"alternative-id":["10.1142\/S2301385025440054"],"URL":"https:\/\/doi.org\/10.1142\/s2301385025440054","relation":{},"ISSN":["2301-3850","2301-3869"],"issn-type":[{"value":"2301-3850","type":"print"},{"value":"2301-3869","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,9]]}}}