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Coverage control for mobile sensing networks
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This paper proposes gradient descent algorithms for a class of utility functions which encode optimal coverage and sensing policies which are adaptive, distributed, asynchronous, and verifiably correct.Abstract:
This paper presents control and coordination algorithms for groups of vehicles. The focus is on autonomous vehicle networks performing distributed sensing tasks where each vehicle plays the role of a mobile tunable sensor. The paper proposes gradient descent algorithms for a class of utility functions which encode optimal coverage and sensing policies. The resulting closed-loop behavior is adaptive, distributed, asynchronous, and verifiably correct.read more
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Proceedings ArticleDOI
Multiple vehicle systems for sensor network area coverage
TL;DR: Voronoi diagram and Delaunay triangulation are introduced to model the area coverage and cooperation of mobile sensor networks and a fault tolerant algorithm for autonomous deployment of the mobile robots is discussed.
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Planetary Exploration With Robot Teams: Implementing Higher Autonomy With Swarm Intelligence
David St-Onge,Marcel Kaufmann,Jacopo Panerati,Benjamin Ramtoula,Yanjun Cao,Emily B. J. Coffey,Giovanni Beltrame +6 more
TL;DR: Results show that implementing higher autonomy with swarm intelligence can reduce workload, freeing the operator for other tasks such as overseeing strategy and communication, and future work will further leverage advances in swarm intelligence for exploration missions.
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LaSalle Invariance Principle for Discrete-time Dynamical Systems: A Concise and Self-contained Tutorial
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TL;DR: This document provides the proofs of all the lemmas proposed in [11] that are needed to derive the main theorem on the LaSalle invariance principle for discrete-time dynamical systems.
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A method of cooperative control using occasional non-local interactions
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Scalable, Distributed Algorithms for Solving Linear Equations via Double-Layered Networks
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References
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Coordination of groups of mobile autonomous agents using nearest neighbor rules
Ali Jadbabaie,Jie Lin,A.S. Morse +2 more
TL;DR: A theoretical explanation for the observed behavior of the Vicsek model, which proves to be a graphic example of a switched linear system which is stable, but for which there does not exist a common quadratic Lyapunov function.
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A robust layered control system for a mobile robot
TL;DR: A new architecture for controlling mobile robots is described, building a robust and flexible robot control system that has been used to control a mobile robot wandering around unconstrained laboratory areas and computer machine rooms.
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