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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
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.
Posted Content
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
A distributed control framework for a team of unmanned aerial vehicles for dynamic wildfire tracking
TL;DR: In this paper, a distributed control framework is proposed for a team of UAVs that can closely monitor a wildfire in open space, and precisely track its development, which can effectively avoid in-flight collisions and cooperate well with neighbors.
Proceedings ArticleDOI
Towards the deployment of a mobile robot network with end-to-end performance guarantees
TL;DR: An experimental study of strategies for maintaining end-to-end communication links for tasks such as surveillance and search and rescue where team connectivity is essential for providing situational awareness to a base station.
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.
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