DocumentCode
951515
Title
Coverage control for mobile sensing networks
Author
Cortés, Jorge ; Martínez, Sonia ; Karatas, Timur ; Bullo, Francesco
Author_Institution
Coordinated Sci. Lab., Univ. of Illinois, Urbana, IL, USA
Volume
20
Issue
2
fYear
2004
fDate
4/1/2004 12:00:00 AM
Firstpage
243
Lastpage
255
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.
Keywords
distributed algorithms; mobile robots; multi-robot systems; sensor fusion; vehicles; wireless sensor networks; asynchronous algorithms; autonomous vehicle networks; centroidal Voronoi partitions; coverage control; distributed algorithms; gradient descent algorithms; mobile sensing networks; mobile tunable sensor; Animals; Biosensors; Infrared sensors; Mobile robots; Optimization methods; Partitioning algorithms; Prototypes; Remotely operated vehicles; Sensor phenomena and characterization; Temperature sensors;
fLanguage
English
Journal_Title
Robotics and Automation, IEEE Transactions on
Publisher
ieee
ISSN
1042-296X
Type
jour
DOI
10.1109/TRA.2004.824698
Filename
1284411
Link To Document