Effective Coverage Control for Mobile Sensor Networks With Guaranteed Collision Avoidance

Hussein, Islam I.; Stipanović, Dušan M.

doi:10.1109/tcst.2007.899155

Cited by 292 publications

(195 citation statements)

References 18 publications

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“…all the points have to be revisited frequently in order to keep the information level high. For δ = 0 the results of Hussein [2007] are a special case of the results presented in this paper. An explicit relation between the speed of the robots and the design parameters will be the subject of further research.…”

Section: Information Modelmentioning

confidence: 62%

“…This work was inspired by Hussein [2007] and the authors would like to thank I. Hussein and D.M. Stipanović for this inspiration and the grateful supply of manuscripts.…”

Section: Acknowledgementsmentioning

confidence: 99%

“…The aim was to derive results, which are applicable for infinite time and therefore not converge to a single point but to a bounded set. In order to achieve that, an idea similar to the effective coverage function in Hussein [2007] but with the novel concept of an information model with information decay is introduced. The paper is organized as follows.…”

Section: Introductionmentioning

confidence: 99%

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Coverage Control with Information Decay in Dynamic Environments

Hübel

Hirche

Gusrialdi

et al. 2008

IFAC Proceedings Volumes

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In this paper a method for coverage control for a convex region D ⊂ R 2 in a dynamic environment is studied. An information map is introduced in which the information about each point is decaying with respect to time s.t. the robots must revisit them periodically. Also a timevarying density function is used for modeling moving points of interest. The considered gradient based control approach causes the cost function to stay within the desired bounds. But due to the non-stationary problem setup caused by the information decay it does not converge to a single point but to a bounded set, such that the robots keep gathering information continuously. With this method it is possible to gather information about several points of interest within the region D with only a few robots. In the end simulation results are presented to outline the effectiveness of the proposed control law.

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Section: Information Modelmentioning

confidence: 62%

“…This work was inspired by Hussein [2007] and the authors would like to thank I. Hussein and D.M. Stipanović for this inspiration and the grateful supply of manuscripts.…”

Section: Acknowledgementsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Coverage Control with Information Decay in Dynamic Environments

Hübel

Hirche

Gusrialdi

et al. 2008

IFAC Proceedings Volumes

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“…In [4], another gradient climbing method is used for the control of a sensor network that does not split the area among the team members. The authors of [5] extend the coverage algorithm of [3] to account for tracking of moving targets.…”

Section: Sensor Network Deploymentmentioning

confidence: 99%

Information Surfing for Radiation Map Building

Abdallah¹,

Cortez²,

Tanner³

et al. 2011

International Journal of Robotics and Automation

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We develop a control scheme for a group of mobile sensors to map radiation over a given planar polygonal region. The advantage of this methodology is that it provides quick situational awareness regarding radiation levels, which is being updated and refined in real-time as more measurements become available. The control algorithm is based on the concept of information surfing, where navigation is done by following information gradients, taking into account sensing performance and the dynamics of the observed process. It is tailored to cases of weak radioactivity, where source signals may be buried in background. We steer mobile sensors to locations which are critical points of a function that quantifies the information content of the measured signal, while * Corresponding author the time-asymptotic properties of the selected information metric facilitate the stability of the group motion. Information surfing allows for reactive mobile sensor network behavior and adaptation to environmental changes, as well as human retasking. Computer simulations and experiments are conducted to verify the asymptotic behavior of the robot group, and its distributed sensing and mapping capabilities.Key words: Sensor networks, cooperative control, radiation sensing MotivationThis work is motivated by the emerging threat of contamination from a malicious attack or accidental release of radioactive material. In such a case, a radiation map can be a valuable tool for rescue, response, and cleanup efforts. Although our focus is on an unexpected release of nuclear contaminants, our methods can also be applied to a wide range of other problems such as nuclear forensics and non proliferation, where robots could investigate the possibility that fissile material has been processed, by searching for small specks of that material.Existing technology in radiation detection is not well suited for the type of scenario described. Currently, searching for radiation sources is usually either done manually, by operators waving radiation counters in front of them as they walk, or by stationary portal monitors. The latter technology is used to detect radioactive sources in cargo or shipping containers at places such as ports of entry.Handheld radiation detectors do not provide any visual or statistical data map of the area in question. If human operators are used in the nuclear forensics problem, it is unlikely that their counters register any measurement at all, coming from a small amount of radioactive material or shielded special nuclear material (snm). Portal monitor systems on the other hand, while able to address the problem of scanning cargo for radioactive sources, lack the mobility needed when measurements are taken over a large area. Related ResearchExisting control design methods for multiple mobile robot coordination apply to problems ranging from topological mapping to formation and flocking tasks, as well as reconfigurable sensor networks. Sensor network deploymentReference [1] employs potential fields to reconfigure a mobile se...

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“…These strategies guarantee a complete solution but require high computational power and are not robust. Decentralized schemes (e.g., Stipanovic et al (2004), Olfati-Saber (2006), Dimarogonas et al (2006), Do (2007), Hussein and Stipanovic (2007), Hussein and Bloch (2008)) require less computational effort but have difficulties in controlling critical points, especially when collision avoidance between the agents is a must.…”

Section: Introductionmentioning

confidence: 99%

Formation control of multiple elliptical agents with limited sensing ranges

Duc

2012

Automatica

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This paper presents a design of cooperative controllers that force a group of N mobile agents with an elliptical shape and with limited sensing ranges to perform a desired formation. The controllers guarantee no collisions between any agents in the group. The desired formation can be stabilized at feasible reference trajectories with bounded time derivatives. The formation control design is based on an algebraic separation condition between ellipses, Lyapunov's method, and smooth or p-times differentiable step functions. These functions are introduced and incorporated into novel potential functions to solve the collision avoidance problem without the need of switchings under the agents' limited sensing ranges.

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Effective Coverage Control for Mobile Sensor Networks With Guaranteed Collision Avoidance

Cited by 292 publications

References 18 publications

Coverage Control with Information Decay in Dynamic Environments

Coverage Control with Information Decay in Dynamic Environments

Information Surfing for Radiation Map Building

Formation control of multiple elliptical agents with limited sensing ranges

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