Open AccessPosted Content
Coverage control for mobile sensing networks
Reads0
Chats0
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
More filters
Journal ArticleDOI
Finite-time semistability, Filippov systems, and consensus protocols for nonlinear dynamical networks with switching topologies
TL;DR: In this article, the authors extend the theory of semistability to discontinuous autonomous dynamical systems and present distributed nonlinear static and dynamic output feedback controller architectures for multiagent network consensus and rendezvous with dynamically changing communication topologies.
Proceedings ArticleDOI
On synchronization and collision avoidance for mechanical systems
TL;DR: It is demonstrated that velocity synchronization and collision avoidance are simultaneously achievable in non-point, nonlinear mechanical systems in the presence of communication delays and switching interconnection topologies.
Journal ArticleDOI
Brief paper: Notes on averaging over acyclic digraphs and discrete coverage control
TL;DR: The relationship between two algorithms and optimization problems that are the subject of recent attention in the networking and control literature are shown and how discrete coverage control laws can be cast as averaging algorithms over discrete Voronoi graphs is shown.
Proceedings ArticleDOI
On Multiple UAV Routing with Stochastic Targets: Performance Bounds and Algorithms
TL;DR: This paper presents partially centralized algorithms for UAV routing, assigning regions of responsibility to each vehicle, and compare their performance with respect to asymptotic performance bounds, in the light and heavy load limits.
Journal ArticleDOI
Nonlinear Estimation With State-Dependent Gaussian Observation Noise
TL;DR: A new filter is proposed that allows for the consistent treatment of a class of control problem involving nonlinear estimation from measurements with state-dependent noise and is computed by an iterative root-searching method that maximizes a maximum likelihood function.
References
More filters
Journal ArticleDOI
Consensus problems in networks of agents with switching topology and time-delays
TL;DR: A distinctive feature of this work is to address consensus problems for networks with directed information flow by establishing a direct connection between the algebraic connectivity of the network and the performance of a linear consensus protocol.
Journal ArticleDOI
Consensus and Cooperation in Networked Multi-Agent Systems
TL;DR: A theoretical framework for analysis of consensus algorithms for multi-agent networked systems with an emphasis on the role of directed information flow, robustness to changes in network topology due to link/node failures, time-delays, and performance guarantees is provided.
Least Squares Quantization in PCM
TL;DR: The corresponding result for any finite number of quanta is derived; that is, necessary conditions are found that the quanta and associated quantization intervals of an optimum finite quantization scheme must satisfy.
Journal ArticleDOI
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.
Related Papers (5)
Distributed self-deployment of mobile wireless 3D robotic sensor networks for complete sensing coverage and forming specific shapes
Vali Nazarzehi,Andrey V. Savkin +1 more
Distributed cooperative coverage and connectivity maintenance for mobile sensing devices
Xiaoli Li,Yugeng Xi +1 more