Coordinated Patterns on Smooth Curves

Author

Zhang, Fumin ; Leonard, Naomi Ehrich

Author_Institution

Dept. of Mech. & Aerosp. Eng., Princeton Univ., NJ

fYear

0

fDate

0-0 0

Firstpage

434

Lastpage

439

Abstract

We show methods that control cooperative Newtonian particles to generate patterns on smooth curves. The spacing between neighboring particles is measured by the relative arc-length and the distance between a particle and the desired curve is measured using an orbit function. The orbit value and the relative arc-length are then used as feedback to control the motion of each particle to a pattern on the desired curve asymptotically. Possible applications of the methods to underwater mobile sensor networks are discussed

Keywords

Newton method; feedback; mobile robots; motion control; remotely operated vehicles; underwater vehicles; wireless sensor networks; cooperative Newtonian particle control; coordinated patterns; motion control; neighboring particles spacing measurement; orbit function; orbit value; pattern generation; relative arc-length; smooth curves; underwater mobile sensor networks; Biological system modeling; Extraterrestrial measurements; Feedback; Intelligent sensors; Oceans; Particle measurements; Predictive models; Sampling methods; Sea measurements; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Networking, Sensing and Control, 2006. ICNSC '06. Proceedings of the 2006 IEEE International Conference on

Conference_Location

Ft. Lauderdale, FL

Print_ISBN

1-4244-0065-1

Type

conf

DOI

10.1109/ICNSC.2006.1673185

Filename

1673185