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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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Scale-Free Coordinates for Multi-robot Systems with Bearing-Only Sensors.
Alejandro Cornejo,Andrew J. Lynch,Elizabeth Fudge,Siegfried Bilstein,Majid Khabbazian,James McLurkin +5 more
TL;DR: This work derives a precise mathematical characterization of the computability of scale-free coordinates using only bearing measurements, and describes an efficient algorithm to obtain them that is tailored to low-cost systems with limited communication bandwidth and sensor resolution.
Proceedings ArticleDOI
A Multi-Vehicle Framework for the Development of Robotic Games: The Marco Polo Case
TL;DR: A multi-vehicle platform and framework for robotics education and research is presented and the robotic game Marco Polo is formally introduced as a problem that mimics the pursuit-evasion game often played by children in swimming pools.
Proceedings ArticleDOI
The Zermelo-Voronoi Diagram: a dynamic partition problem
TL;DR: The Dirichlet-Voronoi like partition problem for a small airplane operating in the horizontal plane in the presence of winds that vary uniformly with time is considered and can be interpreted as a Dynamic Voronoi Diagram problem, where the generators are not fixed, but rather they are moving targets to be reached in minimum time.
Proceedings ArticleDOI
Decentralized sweep coverage algorithm for uncertain region of multi-agent systems
Chao Zhai,Yiguang Hong +1 more
TL;DR: The decentralized sweep coverage algorithm is shown to guarantee the complete coverage of the given region by incorporating two operations: workload partition and sweeping.
From Natural Language to Soft Computing: New Paradigms in Artificial Intelligence
TL;DR: This volume publishes some papers presented at the Exploratory Workshop on Natural Language Computation (EWNLC 2008), entitled ”From Natural Language to Soft Computing: New Paradigms in Artificial Intelligence”, during May 15-17, 2008, Baile Felix, Oradea, Romania.
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.
Book
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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