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dc.contributor.authorAbdallah, Chaouki T.
dc.contributor.authorLuna, Jose Marcio
dc.contributor.authorFierro, Rafael
dc.contributor.authorWood, John
dc.date.accessioned2012-01-26T22:19:49Z
dc.date.available2012-01-26T22:19:49Z
dc.date.issued2010-12-15
dc.identifier.citationIEEE Conference on Decision and Control (CDC), 2010 49th, 12/15/2010: 1250-1256en_US
dc.identifier.issn0743-1546
dc.identifier.urihttp://hdl.handle.net/1928/16989
dc.descriptionDOI: 10.1109/CDC.2010.5717058 en_US
dc.description.abstractWe 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.en_US
dc.description.sponsorshipPermitted by IEEE: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5717058en_US
dc.language.isoen_USen_US
dc.publisherIEEEen_US
dc.titleAn Adaptive Coverage Control Algorithm for Deployment of Nonholonomic Mobile Sensorsen_US
dc.typeArticleen_US


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