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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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Journal ArticleDOI
Distributed Environmental Monitoring With Finite Element Robots
TL;DR: A distributed finite element algorithm that allows swarms of mobile robots to persistently monitor environmental quantities such as temperature or salinity demonstrates that, as the number of robots increases, the memory and communication requirements of each individual robot decrease until reaching a minimum, after which the resolution of the environmental model increases.
Proceedings ArticleDOI
Swarm-based dynamic coverage control
TL;DR: This paper studies the swarm-based coverage control problem for multi-agent systems where the main objective of a group of mobile agents is to explore a given compact region and designs control inputs for collision avoidance, obstacle avoidance and proximity maintenance.
Proceedings ArticleDOI
Adaptive cooperative manipulation with intermittent contact
TL;DR: This work illustrates how cooperative manipulation with multiple, independent agents can be mitigated using a decentralized adaptive control technique based on hybrid control.
Book ChapterDOI
A Location-Based Algorithm for Multi-hopping State Estimates within a Distributed Robot Team
TL;DR: A deterministic algorithm is introduced that broadcasts estimates of nearby robots more frequently than distant ones and it is argued that this frequency should be exponentially proportional to an importance function that monotonically decreases with distance between robots.
Journal ArticleDOI
An Elite Hybrid Particle Swarm Optimization for Solving Minimal Exposure Path Problem in Mobile Wireless Sensor Networks.
Nguyen Thi My Binh,Nguyen Thi My Binh,Abdelhamid Mellouk,Huynh Thi Thanh Binh,Le Vu Loi,Dang Lam San,Tran Hai Anh +6 more
TL;DR: This paper investigates the problem of finding the minimal exposure paths in MWSNs and proposes HPSO-MMEP algorithm, which is an integration of genetic algorithm into particle swarm optimization and performs much better than existing algorithms.
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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