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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
Citations
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Proceedings ArticleDOI
A constructive differential game approach to collision avoidance in multi-agent systems
TL;DR: It is shown that approximate solutions are sufficient to guarantee that the task of reaching the final configuration while avoiding collisions is achieved.
Journal ArticleDOI
Controlled Coverage Using Time-Varying Density Functions
Sung G. Lee,Magnus Egerstedt +1 more
TL;DR: A new algorithm is presented under which the agents track the time-varying density function while providing optimal coverage of the density function, and the effectiveness of the coverage is higher than other comparable algorithms.
Book ChapterDOI
Multi-robot Coverage and Exploration in Non-Euclidean Metric Spaces
TL;DR: This paper generalizes the control law based on minimization of the coverage functional to spaces that are inherently non-Euclidean and are punctured by obstacles to a practical discrete implementation based on standard graph search-based algorithms.
Journal ArticleDOI
Coverage Control of Multiple Unmanned Aerial Vehicles: A Short Review
Sunan Huang,Rodney Teo,William Wai Lun Leong,Niki Martinel,Gian Luca Forest,Christian Micheloni +5 more
TL;DR: A multiple unmanned aerial vehicle (MUAV) system is a group of vehicles that are designed with the aim to perform some collective behavior.
Proceedings ArticleDOI
Optimal Dynamic Actuator Location in Distributed Feedback Control of A Diffusion Process
TL;DR: In this paper, the optimal actuator location problem was solved by using Centroidal Voronoi Tessellations and a new simulation platform (Diff- MAS2D) for measurement scheduling and control in distributed parameter systems is also introduced.
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
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