Electrical & Computer Engineering Faculty Publications

Document Type

Article

Publication Date

12-15-2010

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.

Publisher

IEEE

Publication Title

IEEE Conference on Decision and Control (CDC)

ISSN

0743-1546

First Page

1250

Last Page

1256

Language (ISO)

English

Sponsorship

Permitted by IEEE: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5717058

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