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Hybrid coverage and inspection control for anisotropic mobile sensor teams
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-7309-8086
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
2017 (English)In: IFAC-PapersOnLine, ISSN 2405-8963, Vol. 50, no 1, p. 613-618Article in journal (Refereed) 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.

Place, publisher, year, edition, pages
Elsevier, 2017. Vol. 50, no 1, p. 613-618
Keywords [en]
hybrid, multi-agent systems, sensor networks, switched systems modeling
National Category
Control Engineering
Identifiers
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
Note

QC 20180213

Available from: 2018-02-13 Created: 2018-02-13 Last updated: 2018-02-13Bibliographically approved

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Dimarogonas, Dimos V.

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CiteExportLink to record
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  • apa
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Output format
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