Coverage control for homogeneous mobile sensors with input constraints on a unit circle

Cheng Song; Lu Liu; Gang Feng

doi:10.1109/ASCC.2015.7244377

Coverage control for homogeneous mobile sensors with input constraints on a unit circle

^*Corresponding author for this work

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

Abstract

This paper addresses the coverage control problem for a network of homogeneous mobile sensors with first order discrete-time dynamics, where the goal is to minimize a coverage cost function which is defined as the largest distance from any point on a unit circle to its nearest sensor. Due to the existence of a maximum velocity for each sensor in practice, input saturation for the sensors needs to be taken into consideration. Distributed coverage control laws with input constraints are developed to drive the sensors to the final configuration such that the coverage cost function is minimized It is also shown that the spatial order of the mobile sensors is preserved throughout the network's evolution. As a result, collision avoidance between mobile sensors is always guaranteed.

Original language	English
Title of host publication	2015 10th Asian Control Conference (ASCC)
Subtitle of host publication	“Emerging Control Techniques for a Sustainable World”
Publisher	IEEE
ISBN (Electronic)	978-1-4799-7862-5
DOIs	https://doi.org/10.1109/ASCC.2015.7244377
Publication status	Published - 2015
Event	10th Asian Control Conference (ASCC) - Kota Kinabalu, Malaysia Duration: 31 May 2015 → 3 Jun 2015

Publication series

Name	Asian Control Conference ASCC
ISSN (Print)	2072-5639

Conference

Conference	10th Asian Control Conference (ASCC)
Place	Malaysia
City	Kota Kinabalu
Period	31/05/15 → 3/06/15

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 3 Good Health and Well-being

Research Keywords

MULTIAGENT SYSTEMS
CONSENSUS
NETWORKS

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10.1109/ASCC.2015.7244377

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title = "Coverage control for homogeneous mobile sensors with input constraints on a unit circle",

abstract = "This paper addresses the coverage control problem for a network of homogeneous mobile sensors with first order discrete-time dynamics, where the goal is to minimize a coverage cost function which is defined as the largest distance from any point on a unit circle to its nearest sensor. Due to the existence of a maximum velocity for each sensor in practice, input saturation for the sensors needs to be taken into consideration. Distributed coverage control laws with input constraints are developed to drive the sensors to the final configuration such that the coverage cost function is minimized It is also shown that the spatial order of the mobile sensors is preserved throughout the network's evolution. As a result, collision avoidance between mobile sensors is always guaranteed.",

keywords = "MULTIAGENT SYSTEMS, CONSENSUS, NETWORKS",

author = "Cheng Song and Lu Liu and Gang Feng",

year = "2015",

doi = "10.1109/ASCC.2015.7244377",

language = "English",

series = "Asian Control Conference ASCC",

publisher = "IEEE",

booktitle = "2015 10th Asian Control Conference (ASCC)",

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note = "10th Asian Control Conference (ASCC) ; Conference date: 31-05-2015 Through 03-06-2015",

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Song, C, Liu, L & Feng, G 2015, Coverage control for homogeneous mobile sensors with input constraints on a unit circle. in 2015 10th Asian Control Conference (ASCC): “Emerging Control Techniques for a Sustainable World”. Asian Control Conference ASCC, IEEE, 10th Asian Control Conference (ASCC), Kota Kinabalu, Malaysia, 31/05/15. https://doi.org/10.1109/ASCC.2015.7244377

Coverage control for homogeneous mobile sensors with input constraints on a unit circle. / Song, Cheng; Liu, Lu ; Feng, Gang.
2015 10th Asian Control Conference (ASCC): “Emerging Control Techniques for a Sustainable World”. IEEE, 2015. (Asian Control Conference ASCC).

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

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AU - Song, Cheng

AU - Liu, Lu

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N2 - This paper addresses the coverage control problem for a network of homogeneous mobile sensors with first order discrete-time dynamics, where the goal is to minimize a coverage cost function which is defined as the largest distance from any point on a unit circle to its nearest sensor. Due to the existence of a maximum velocity for each sensor in practice, input saturation for the sensors needs to be taken into consideration. Distributed coverage control laws with input constraints are developed to drive the sensors to the final configuration such that the coverage cost function is minimized It is also shown that the spatial order of the mobile sensors is preserved throughout the network's evolution. As a result, collision avoidance between mobile sensors is always guaranteed.

AB - This paper addresses the coverage control problem for a network of homogeneous mobile sensors with first order discrete-time dynamics, where the goal is to minimize a coverage cost function which is defined as the largest distance from any point on a unit circle to its nearest sensor. Due to the existence of a maximum velocity for each sensor in practice, input saturation for the sensors needs to be taken into consideration. Distributed coverage control laws with input constraints are developed to drive the sensors to the final configuration such that the coverage cost function is minimized It is also shown that the spatial order of the mobile sensors is preserved throughout the network's evolution. As a result, collision avoidance between mobile sensors is always guaranteed.

KW - MULTIAGENT SYSTEMS

KW - CONSENSUS

KW - NETWORKS

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M3 - RGC 32 - Refereed conference paper (with host publication)

T3 - Asian Control Conference ASCC

BT - 2015 10th Asian Control Conference (ASCC)

PB - IEEE

T2 - 10th Asian Control Conference (ASCC)

Y2 - 31 May 2015 through 3 June 2015

ER -

Coverage control for homogeneous mobile sensors with input constraints on a unit circle

Abstract

Publication series

Conference

UN SDGs

Research Keywords

Access Output

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