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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
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Flocking for multi-agent dynamic systems: algorithms and theory
TL;DR: A theoretical framework for design and analysis of distributed flocking algorithms, and shows that migration of flocks can be performed using a peer-to-peer network of agents, i.e., "flocks need no leaders."
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Stability of multiagent systems with time-dependent communication links
TL;DR: It is observed that more communication does not necessarily lead to faster convergence and may eventually even lead to a loss of convergence, even for the simple models discussed in the present paper.
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An Overview of Recent Progress in the Study of Distributed Multi-agent Coordination
TL;DR: In this paper, the authors reviewed some main results and progress in distributed multi-agent coordination, focusing on papers published in major control systems and robotics journals since 2006, and proposed several promising research directions along with some open problems that are deemed important for further investigations.
BookDOI
Distributed Control of Robotic Networks: A Mathematical Approach to Motion Coordination Algorithms
TL;DR: This self-contained introduction to the distributed control of robotic networks offers a broad set of tools for understanding coordination algorithms, determining their correctness, and assessing their complexity; and it analyzes various cooperative strategies for tasks such as consensus, rendezvous, connectivity maintenance, deployment, and boundary estimation.
References
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Proceedings ArticleDOI
Multi-objective compositions for collision-free connectivity maintenance in teams of mobile robots
TL;DR: The compositional barrier functions are applied to the example of ensuring collision avoidance and static/dynamical graph connectivity of teams of mobile robots.
Coverage control for mobile sensing networks: variations on a theme
TL;DR: Control and coordination algorithms for networks of autonomous vehicles are presented and distributed gradient descent algorithms for a class of utility functions which encodes optimal coverage and sensing policies are designed.
Proceedings ArticleDOI
Path Planning for Permutation-Invariant Multi-Robot Formations
S. Kloder,Seth Hutchinson +1 more
TL;DR: The properties of the representation are described, and it is shown how it can be used to construct collision-free paths for permutation-invariant formations.
Journal ArticleDOI
Awareness Coverage Control Over Large-Scale Domains With Intermittent Communications
Yue Wang,Islam I. Hussein +1 more
TL;DR: A novel dynamic awareness coverage model is proposed and applied to coverage control over a large-scale task domain for a decentralized multi-vehicle sensor network with intermittent communications and possibly faulty sensors and the effectiveness of the novel awareness model and decentralized control law is demonstrated.
Proceedings ArticleDOI
Vector field following for quadrotors using differential flatness
Dingjiang Zhou,Mac Schwager +1 more
TL;DR: A differential flatness-based method for maneuvering a quadrotor so that its position follows a specified velocity vector field, derived mathematically, and demonstrated in numerical simulations and in experiments with aquadrotor robot for three different vector fields.
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