Abstract
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.
Original language | English (US) |
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Article number | 6906992 |
Pages (from-to) | 1106-1111 |
Number of pages | 6 |
Journal | Proceedings - IEEE International Conference on Robotics and Automation |
DOIs | |
State | Published - Sep 22 2014 |
Event | 2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China Duration: May 31 2014 → Jun 7 2014 |
Keywords
- Distributed optimization
- area coverage
- cooperative control
- heterogeneous swarms
- non-uniform sensory
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering