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

Yiannis Stergiopoulos; Anthony Tzes

doi:10.1109/ICRA.2014.6906992

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

Yiannis Stergiopoulos, Anthony Tzes

Research output: Contribution to journal › Conference 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 language	English (US)
Article number	6906992
Pages (from-to)	1106-1111
Number of pages	6
Journal	Proceedings - IEEE International Conference on Robotics and Automation
DOIs	https://doi.org/10.1109/ICRA.2014.6906992
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

Access to Document

10.1109/ICRA.2014.6906992

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Stergiopoulos, Y., & Tzes, A. (2014). Cooperative positioning/orientation control of mobile heterogeneous anisotropic sensor networks for area coverage. Proceedings - IEEE International Conference on Robotics and Automation, 1106-1111. [6906992]. https://doi.org/10.1109/ICRA.2014.6906992

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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.",

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