{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,4]],"date-time":"2026-05-04T16:01:28Z","timestamp":1777910488145,"version":"3.51.4"},"reference-count":18,"publisher":"SAGE Publications","issue":"11","license":[{"start":{"date-parts":[[2019,1,23]],"date-time":"2019-01-23T00:00:00Z","timestamp":1548201600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61333001"],"award-info":[{"award-number":["61333001"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61473099"],"award-info":[{"award-number":["61473099"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Transactions of the Institute of Measurement and Control"],"published-print":{"date-parts":[[2019,7]]},"abstract":"<jats:p>This paper proposes a coverage problem of multi-agent systems, in which a group of agents enter a given region at different times and are required to cover the given region cooperatively. The focus of this paper is to solve the coverage problem of multi-agent systems with a non-convex optimization approach. By introducing appropriate assumptions, a gradient-based control law is designed based on the information of the previous stage agents. However, the performance index of each stage is nonlinear and generally non-convex and may have multiple local optima to which a gradient may converge. Thus, an effective boosting function, which is used to prevent the non-convex optimization problem getting into local optimum, is shown. It is proved in the sense of Lyapunov that the global coverage for the multi-agent systems with different entry time for coming into the given region can be achieved. Numerical simulations with cooperative control of industries subsystems show the effectiveness of the proposed approach.<\/jats:p>","DOI":"10.1177\/0142331218819704","type":"journal-article","created":{"date-parts":[[2019,1,23]],"date-time":"2019-01-23T18:32:55Z","timestamp":1548268375000},"page":"2985-2996","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":2,"title":["Coverage control of multi-agent systems with different entry times"],"prefix":"10.1177","volume":"41","author":[{"given":"Longbiao","family":"Ma","sequence":"first","affiliation":[{"name":"Control and Simulation Center, Harbin Institute of Technology, Harbin, P. R. China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Fenghua","family":"He","sequence":"additional","affiliation":[{"name":"Control and Simulation Center, Harbin Institute of Technology, Harbin, P. R. 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