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Coverage control for mobile sensing networks
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TLDR
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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Communication-Restricted Exploration for Search Teams.
TL;DR: A novel algorithm is proposed that allows a small team of robots to fully explore an unknown environment, even in the face of extreme communication restrictions, and is verified through proofs and experiments that the algorithm will achieve full exploration.
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Control design for unmanned aerial vehicle swarming
TL;DR: In this paper, a survey of recent results in the field of cooperative control for multi-vehicle systems is presented and various applications are discussed and presented in a mathematical framework to illustrate the major features of the cooperative control problem.
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Distributed Control of Mobile Sensor Networks under RF Connectivity Constraints
TL;DR: This paper addresses the problem of coordinating the motion of the nodes in a mobile sensor network for area coverage applications under RF communication limitations with a proposed control scheme that guarantees end-to-end RF connectivity of the network, while attaining optimum area coverage.
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Coverage control for mobile sensor networks with time-varying communication delays on a closed curve
TL;DR: It is shown that even if time-varying communication delays exist, low gain feedback can be also used to design distributed coverage control laws for the mobile sensors.
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DisCoverage for non-convex environments with arbitrary obstacles
TL;DR: This work introduces a transformation of non-convex environments to robot centric star-shaped domains to support arbitrary non- Convex real-world environments with obstacles to achieve general solution with broader applications for exploration and path planning.
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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