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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
Citations
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Proceedings ArticleDOI
Sampling based sensor-network deployment
TL;DR: This paper focuses on sampling based deployment and presents incremental deployment algorithms, which consider the current placement to adjust the sampling domain, and presents algorithms that guarantee coverage and connectivity with a small number of sensors.
Journal ArticleDOI
Projection-Based Model Reduction of Multi-Agent Systems Using Graph Partitions
TL;DR: A projection-based model reduction method for multiagent systems defined on a graph that shows that if the original multiagent system reaches consensus, then so does the reduced order model and it is proved that the error obtained by taking an arbitrary partition of the graph is bounded from below by theerror obtained using the largest AEP finer than the given partition.
Journal ArticleDOI
Coverage Control for Multirobot Teams With Heterogeneous Sensing Capabilities
TL;DR: This letter investigates how mobile agents with qualitatively different sensing capabilities should be organized in order to effectively cover an area by encoding the different capabilities as different density functions in the locational cost and shows how these additional terms can be formulated as boundary-disagreement terms that are added to the standard Lloyd's algorithm.
Journal ArticleDOI
Intercepting Rogue Robots: An Algorithm for Capturing Multiple Evaders With Multiple Pursuers
TL;DR: A decentralized version of this policy applicable in two-dimensional (2-D) and 3-D environments is presented, and it is shown in multiple simulations that it outperforms other decentralized multipursuer heuristics.
Journal ArticleDOI
Coverage and Energy Consumption Control in Mobile Heterogeneous Wireless Sensor Networks
TL;DR: This paper investigates the coverage and energy consumption control in mobile heterogeneous wireless sensor networks (WSNs) and proposes the equivalent sensing radius (ESR) for both cases and derives the critical ESR correspondingly.
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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