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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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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
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.
Journal ArticleDOI
Optimal Control of an Underwater Sensor Network for Cooperative Target Tracking
TL;DR: An integral objective function representing the quality of service of a sensor network performing cooperative track detection over time is derived using a geometric transversals approach and shows that OC significantly improves the network'squality of service compared to area-coverage and path-planning methods.
Journal ArticleDOI
Decentralized probabilistic density control of autonomous swarms with safety constraints
TL;DR: This paper generalizes the previous results on density upper bound constraints and captures a general class of linear safety constraints that bound the flow of agents.
Journal ArticleDOI
Simple movement control algorithm for bi-connectivity in robotic sensor networks
TL;DR: This paper proposes a simple movement control algorithm that emulates the attractive force and the repulsive force in nature, such that each robot simply follows the resultant virtual force to move.
Journal ArticleDOI
Adaptive Deployment of Mobile Robotic Networks
J. Le Ny,George J. Pappas +1 more
TL;DR: This paper considers deployment problems where a mobile robotic network must optimize its configuration in a distributed way in order to minimize a steady-state cost function that depends on the spatial distribution of certain probabilistic events of interest.
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