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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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Book ChapterDOI
Cellular automaton based motion planning algorithms for mobile sensor networks
TL;DR: A set of probabilistic and deterministic cellular automaton based algorithms for an optimization problem of mobile wireless sensor networks (MWSN) where the sensors are initially randomly distributed and the mobile sensors need to disperse autonomously to both maximize coverage of the network and to maintain connectivity.
Proceedings ArticleDOI
Area-constrained coverage optimization by robotic sensor networks
TL;DR: This paper designs the ¿move-to-center-and-compute-weight¿ coordination algorithm that steers the robotic network towards the set of center generalized Voronoi configurations while monotonically optimizing coverage.
Journal ArticleDOI
Communication-Free Distributed Coverage for Networked Systems
TL;DR: In this article, a communication-free algorithm for distributed coverage of an arbitrary network by a group of mobile agents with local sensing capabilities is presented, where the network is represented as a graph, and the agents are arbitrarily deployed on some nodes of the graph.
Proceedings ArticleDOI
Information Based Distributed Control for Biochemical Source Detection and Localization
TL;DR: It is shown that the DOG algorithm can be turned into a distributed control scheme for a mobile sensing network, and that the maximum likelihood estimation proposed in the original algorithms can be replaced with more computationally efficient numerical procedures.
Proceedings ArticleDOI
Communication-aware surveillance in mobile sensor networks
TL;DR: A mathematical framework for robust communication-aware surveillance, in order to survey the environment efficiently while maximizing the probability of connectivity of the nodes to the base station at all the time, is developed.
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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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