Journal
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION
Volume 20, Issue 2, Pages 243-255Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRA.2004.824698
Keywords
Centroidal Voronoi partitions; coverage control; distributed and asynchronous algorithms; sensor networks
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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.
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