TY - GEN
T1 - Cooperative positioning/orientation control of mobile heterogeneous anisotropic sensor networks for area coverage
AU - Stergiopoulos, Yiannis
AU - Tzes, Anthony
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/9/22
Y1 - 2014/9/22
N2 - This article examines the coordination problem of the nodes' motion in a heterogeneous anisotropic mobile sensor network for area coverage purposes. The mobile agents are assumed to have non-uniform with varying scaling sensing ability around themselves. The nodes' sensor footprint is allowed to be any arbitrary compact planar set, while the coordination scheme accounts for rotation of the latter. The domain sensed by the swarm is partitioned via the proposed distributed scheme that differentiates for standard Voronoi-alike distance-based metrics. The distributed cooperative scheme developed manages to lead the group towards an area-optimal configuration via proper control of the movement and rotation of each sensing node. Numerical results are provided in order to indicate the efficiency of the proposed technique.
AB - This article examines the coordination problem of the nodes' motion in a heterogeneous anisotropic mobile sensor network for area coverage purposes. The mobile agents are assumed to have non-uniform with varying scaling sensing ability around themselves. The nodes' sensor footprint is allowed to be any arbitrary compact planar set, while the coordination scheme accounts for rotation of the latter. The domain sensed by the swarm is partitioned via the proposed distributed scheme that differentiates for standard Voronoi-alike distance-based metrics. The distributed cooperative scheme developed manages to lead the group towards an area-optimal configuration via proper control of the movement and rotation of each sensing node. Numerical results are provided in order to indicate the efficiency of the proposed technique.
KW - area coverage
KW - cooperative control
KW - Distributed optimization
KW - heterogeneous swarms
KW - non-uniform sensory
UR - http://www.scopus.com/inward/record.url?scp=84929209002&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84929209002&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2014.6906992
DO - 10.1109/ICRA.2014.6906992
M3 - Conference contribution
AN - SCOPUS:84929209002
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1106
EP - 1111
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Y2 - 31 May 2014 through 7 June 2014
ER -