Cooperative positioning/orientation control of mobile heterogeneous anisotropic sensor networks for area coverage

Yiannis Stergiopoulos, Anthony Tzes

Research output: Contribution to journalConference article

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 languageEnglish (US)
Article number6906992
Pages (from-to)1106-1111
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
DOIs
StatePublished - Sep 22 2014
Event2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China
Duration: May 31 2014Jun 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

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