Distributed coverage control for mobile sensors with location-dependent sensing models
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 gen...
| Main Authors: | , , , |
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| Other Authors: | |
| Format: | Article |
| Language: | en_US |
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Institute of Electrical and Electronics Engineers
2010
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| Online Access: | http://hdl.handle.net/1721.1/58975 https://orcid.org/0000-0001-5473-3566 |
| _version_ | 1811090993035870208 |
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| author | Poduri, Sameera Sukhatme, Gaurav S. Deshpande, Ajay A. Rus, Daniela L |
| author2 | Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science |
| author_facet | Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science Poduri, Sameera Sukhatme, Gaurav S. Deshpande, Ajay A. Rus, Daniela L |
| author_sort | Poduri, Sameera |
| collection | MIT |
| description | 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. |
| first_indexed | 2024-09-23T14:55:24Z |
| format | Article |
| id | mit-1721.1/58975 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T14:55:24Z |
| publishDate | 2010 |
| publisher | Institute of Electrical and Electronics Engineers |
| record_format | dspace |
| spelling | mit-1721.1/589752022-09-29T11:26:10Z Distributed coverage control for mobile sensors with location-dependent sensing models Poduri, Sameera Sukhatme, Gaurav S. Deshpande, Ajay A. Rus, Daniela L Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology. Laboratory for Manufacturing and Productivity Deshpande, Ajay A. Deshpande, Ajay A. Rus, Daniela L. 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. National Science Foundation (U.S.) (grant NSF IIS-0426838) National Science Foundation (U.S.) (grant EFRI 0735953) National Science Foundation (U.S.) (grant CNS-0540420) National Science Foundation (U.S.) (grant CNS-0325875) National Science Foundation (U.S.) (grant CCR-0120778) Multidisciplinary University Research Initiative (MURI) (grant W911NF-05-1-0219) Intel Corporation United States. Office of Naval Research (grant N00014-08-1-0693) Okawa Foundation 2010-10-08T17:08:13Z 2010-10-08T17:08:13Z 2009-07 Article http://purl.org/eprint/type/JournalArticle 978-1-4244-2788-8 1050-4729 INSPEC Accession Number: 10748675 http://hdl.handle.net/1721.1/58975 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 https://orcid.org/0000-0001-5473-3566 en_US http://dx.doi.org/10.1109/ROBOT.2009.5152732 IEEE International Conference on Robotics and Automation, 2009 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. application/pdf Institute of Electrical and Electronics Engineers IEEE |
| spellingShingle | Poduri, Sameera Sukhatme, Gaurav S. Deshpande, Ajay A. Rus, Daniela L Distributed coverage control for mobile sensors with location-dependent sensing models |
| title | Distributed coverage control for mobile sensors with location-dependent sensing models |
| title_full | Distributed coverage control for mobile sensors with location-dependent sensing models |
| title_fullStr | Distributed coverage control for mobile sensors with location-dependent sensing models |
| title_full_unstemmed | Distributed coverage control for mobile sensors with location-dependent sensing models |
| title_short | Distributed coverage control for mobile sensors with location-dependent sensing models |
| title_sort | distributed coverage control for mobile sensors with location dependent sensing models |
| url | http://hdl.handle.net/1721.1/58975 https://orcid.org/0000-0001-5473-3566 |
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