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Hybrid coverage and inspection control for anisotropic mobile sensor teams
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.ORCID-id: 0000-0001-7309-8086
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
2017 (engelsk)Inngår i: IFAC-PapersOnLine, ISSN 2405-8963, Vol. 50, nr 1, s. 613-618Artikkel i tidsskrift (Fagfellevurdert) Published
Abstract [en]

In this paper, we present an algorithm for pose control of a team of mobile sensors for coverage and inspection applications. The region to cover is abstracted into a finite set of landmarks, and each sensor is responsible to cover some of the landmarks. The sensors progressively improve their coverage by adjusting their poses and by transferring the ownership of some landmarks to each other. Inter-sensor communication is pairwise and intermittent. The sensor team is formally modeled as a multi-agent hybrid system, and an invariance argument formally shows that the team reaches an equilibrium configuration, while a global coverage measure is improving monotonically. A numerical simulation corroborates the theoretical results.

sted, utgiver, år, opplag, sider
Elsevier, 2017. Vol. 50, nr 1, s. 613-618
Emneord [en]
hybrid, multi-agent systems, sensor networks, switched systems modeling
HSV kategori
Identifikatorer
URN: urn:nbn:se:kth:diva-223065DOI: 10.1016/j.ifacol.2017.08.098Scopus ID: 2-s2.0-85031805383OAI: oai:DiVA.org:kth-223065DiVA, id: diva2:1182421
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QC 20180213

Tilgjengelig fra: 2018-02-13 Laget: 2018-02-13 Sist oppdatert: 2018-02-13bibliografisk kontrollert

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