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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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Journal ArticleDOI
Adapting to sensing and actuation variations in multi-robot coverage
TL;DR: This article presents an algorithm that learns the relative performance variations among the robots online, in a distributed fashion, and automatically compensates by assigning the weak robots a smaller portion of the environment and the strong robots a larger portion, and shows that the robots converge to a locally optimal coverage configuration.
Book ChapterDOI
A multi-robot coverage approach based on stigmergic communication
TL;DR: A novel approach for multi-robot coverage is described which is based on the principle of pheromone-based communication, called StiCo, which shows several desirable features such as robustness, scalability and functional extensibility.
Journal ArticleDOI
Theories and Algorithms of Coverage Control for Wireless Sensor Networks
TL;DR: The coverage control problem is captured, some recent novel theories and algorithms for wireless sensor networks coverage control problems are reviewed, and the taxonomy is described.
Journal ArticleDOI
Passive Decomposition Approach to Formation and Maneuver Control of Multiple Rigid Bodies
Dongjun Lee,Perry Y. Li +1 more
TL;DR: In this article, a passive decomposition framework for the formation and maneuver control for multiple rigid bodies is proposed, where the group dynamics of the multiple agents is decomposed into two decoupled systems: the shape system representing internal group formation shape and the locked system abstracting the overall group maneuver as a whole.
Journal ArticleDOI
A Geometric Optimization Approach to Detecting and Intercepting Dynamic Targets Using a Mobile Sensor Network
TL;DR: A methodology is developed to deploy a mobile sensor network for the purpose of detecting and capturing mobile targets in the plane using a new cell decomposition approach to formulate the probability of detection and the cost of operating the robots based on the geometric properties of the network.
References
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Least Squares Quantization in PCM
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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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