Distributed coverage control for mobile sensors with location-dependent sensing models
Name
Deshpande-2009-Distributed coverage control for mobile sensors with location-dependent sensing models.pdf
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496.44 KB
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Author(s)
Poduri, Sameera
Sukhatme, Gaurav S.
Deshpande, Ajay A.
Rus, Daniela L
Date Issued
July 2009
Journal
IEEE International Conference on Robotics and Automation, 2009
Publisher
Institute of Electrical and Electronics Engineers
Citation
Deshpande, A. et al. “Distributed coverage control for mobile sensors with location-dependent sensing models.” Robotics and Automation, 2009. ICRA '09. IEEE International Conference on. 2009. 2344-2349. © 2009 IEEE
Version
Final published version
Abstract
This paper addresses the problem of coverage control of a network of mobile sensors. In the current literature, this is commonly formulated as a locational optimization problem under the assumption that sensing performance is independent of the locations of sensors. We extend this work to a more general framework where the sensor model is location-dependent. We propose a distributed control law and coordination algorithm. If the global sensing performance function is known a priori, we prove that the algorithm is guaranteed to converge. To validate this algorithm, we conduct experiments with indoor and outdoor deployments of Cyclops cameras and model its sensing performance. This model is used to simulate deployments on 1D pathways and study the coverage obtained. We also examine the coverage in the case when the global sensing function is not known and is estimated in an online fashion.
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Massachusetts Institute of Technology. Laboratory for Manufacturing and Productivity
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
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DOI of Published Version
https://doi.org/10.1109/ROBOT.2009.5152732
