Coverage control for mobile sensing networks

被引：1732

作者：

Cortés, J

Martínez, S

Karatas, T

Bullo, F

机构：

[1] Univ Illinois, Coordinated Sci Lab, Urbana, IL 61801 USA

[2] Univ Politecn Cataluna, Escola Univ Politecn Vilanova i La Geltru, Vilanova i la Geltru, Spain

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 2004年 / 20卷 / 02期

关键词：

Centroidal Voronoi partitions; coverage control; distributed and asynchronous algorithms; sensor networks;

D O I：

10.1109/TRA.2004.824698

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents control and coordination algorithms for groups of vehicles. The focus is on autonomous vehicle networks performing distributed sensing tasks, where each vehicle plays the role of a mobile tunable sensor. The paper proposes gradient descent algorithms for a class of utility functions which encode optimal coverage and sensing policies. The resulting closed-loop behavior is adaptive, distributed, asynchronous, and verifiably correct.

引用

页码：243 / 255

页数：13

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