Coverage control for mobile sensing networks

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 functi...

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Bibliographic Details
Published in:IEEE transactions on robotics and automation Vol. 20; no. 2; pp. 243 - 255
Main Authors: Cortes, J., Martinez, S., Karatas, T., Bullo, F.
Format: Journal Article
Language:English
Published: New York, NY IEEE 01.04.2004
Institute of Electrical and Electronics Engineers
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:
Algorithms
Animals
Applied sciences
Biosensors
Computer science; control theory; systems
Control algorithms
Control theory. Systems
Descent
Detection
Exact sciences and technology
Infrared sensors
Mobile communications networks
Mobile robots
Networks
Optimization
Optimization methods
Partitioning algorithms
Prototypes
Remotely operated vehicles
Robotics
Sensor phenomena and characterization
Sensors
Tasks
Temperature sensors
Utilities
Vehicles
Mobile radiocommunication
Autonomous system
Coordination
Cellular radio
Utility function
Measurement sensor
Optimal policy
Control program
Robotics
Gradient descent
Descent method
System identification
Sensor array
ISSN:1042-296X, 2374-958X
Online Access:Get full text
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Description
Summary: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.
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ISSN:1042-296X
2374-958X
DOI:10.1109/TRA.2004.824698