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An Adaptive Coverage Control Algorithm for Deployment of Nonholonomic Mobile Sensors

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Please use this identifier to cite or link to this item: http://hdl.handle.net/1928/16989

An Adaptive Coverage Control Algorithm for Deployment of Nonholonomic Mobile Sensors

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Title: An Adaptive Coverage Control Algorithm for Deployment of Nonholonomic Mobile Sensors
Author: Abdallah, Chaouki T.; Luna, Jose Marcio; Fierro, Rafael; Wood, John
Abstract: We show the Lyapunov stability and convergence of an adaptive and decentralized coverage control for a team of mobile sensors. This new approach assumes nonholonomic sensors rather than the usual holonomic sensors found in the literature. The kinematics of the unicycle model and a nonlinear control law in polar coordinates are used in order to prove the stability of the controller applied over a team of mobile sensors. The convergence and feasibility of the coverage control algorithm are verified through simulations in Matlab. Furthermore, some experiments are carried out using a team of four Pioneer 3-AT robots sensing a piecewise constant light distribution function.
Date: 2010-12-15
Publisher: IEEE
Citation: IEEE Conference on Decision and Control (CDC), 2010 49th, 12/15/2010: 1250-1256
Description: DOI: 10.1109/CDC.2010.5717058 
URI: http://hdl.handle.net/1928/16989
ISSN: 0743-1546


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