Title :
Decentralized coordinated control of a vehicle network for deployment in sweep coverage
Author :
Cheng, Teddy M. ; Savkin, Andrey V.
Author_Institution :
Sch. of Electr. Eng. & Telecommun., Univ. of New South Wales, Sydney, NSW, Australia
Abstract :
This paper addresses a problem of sweep coverage by a network of self-deployed autonomous vehicles. We propose a decentralized motion coordination algorithm for the vehicles to accomplish the deployment objective of sweep coverage. The control algorithm is developed theoretically using the ideas of nearest neighbor rules, and its effectiveness is illustrated via numerical simulations.
Keywords :
decentralised control; mobile robots; motion control; numerical analysis; self-adjusting systems; vehicles; autonomous unmanned vehicle; decentralized coordinated control; decentralized motion coordination; nearest neighbor rules; numerical simulation; self-deployed autonomous vehicle; sweep coverage; vehicle network; Automatic control; Communication system control; Distributed control; Event detection; Mobile robots; Nearest neighbor searches; Remotely operated vehicles; Robot kinematics; Sea measurements; Sensor systems; Agents and autonomous systems; autonomous unmanned vehicles; decentralized control; mobile robots; sensor deployment; sweep coverage;
Conference_Titel :
Control and Automation, 2009. ICCA 2009. IEEE International Conference on
Conference_Location :
Christchurch
Print_ISBN :
978-1-4244-4706-0
Electronic_ISBN :
978-1-4244-4707-7
DOI :
10.1109/ICCA.2009.5410535
