期刊
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION
卷 20, 期 2, 页码 243-255出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRA.2004.824698
关键词
Centroidal Voronoi partitions; coverage control; distributed and asynchronous algorithms; sensor networks
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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