Coverage control for mobile sensing networks

Author

Cortés, Jorge ; Martinez, Sonia ; Karatas, Timur ; Bullo, Francesco

Author_Institution

Instituto de Matematicas y Fisica Fundamental, Consejo Superior de Investigaciones Cientificas, Madrid, Spain

Volume

2

fYear

2002

fDate

2002

Firstpage

1327

Lastpage

1332

Abstract

This paper describes decentralized control laws for the coordination of multiple vehicles performing spatially distributed tasks. The control laws are based on a gradient descent scheme applied to a class of decentralized utility functions that encode optimal coverage and sensing policies. These utility functions are studied in geographical optimization problems and they arise naturally in vector quantization and in sensor allocation tasks. The approach exploits the computational geometry of spatial structures such as Voronoi diagrams

Keywords

computational geometry; decentralised control; mobile robots; multi-agent systems; optimisation; vector quantisation; Voronoi diagrams; computational geometry; coverage control; decentralized control; gradient descent scheme; interconnected robotic systems; locational optimization; mobile agents; mobile sensing networks; sensor allocation; utility functions; vector quantization; Distributed control; Mobile robots; Pollution measurement; Remotely operated vehicles; Robot kinematics; Robot vision systems; Sea measurements; Space technology; Surveillance; Underwater vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on

Conference_Location

Washington, DC

Print_ISBN

0-7803-7272-7

Type

conf

DOI

10.1109/ROBOT.2002.1014727

Filename

1014727