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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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dc.contributor.author Abdallah, Chaouki T.
dc.contributor.author Luna, Jose Marcio
dc.contributor.author Fierro, Rafael
dc.contributor.author Wood, John
dc.date.accessioned 2012-01-26T22:19:49Z
dc.date.available 2012-01-26T22:19:49Z
dc.date.issued 2010-12-15
dc.identifier.citation IEEE Conference on Decision and Control (CDC), 2010 49th, 12/15/2010: 1250-1256 en_US
dc.identifier.issn 0743-1546
dc.identifier.uri http://hdl.handle.net/1928/16989
dc.description DOI: 10.1109/CDC.2010.5717058  en_US
dc.description.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. en_US
dc.description.sponsorship Permitted by IEEE: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5717058 en_US
dc.language.iso en_US en_US
dc.publisher IEEE en_US
dc.title An Adaptive Coverage Control Algorithm for Deployment of Nonholonomic Mobile Sensors en_US
dc.type Article en_US


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