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ICRA
2009
IEEE

Distributed coverage control for mobile sensors with location-dependent sensing models

10 years 11 months ago
Distributed coverage control for mobile sensors with location-dependent sensing models
— This paper addresses the problem of coverage control of a network of mobile sensors. In the current literature, this is commonly formulated as a locational optimization problem under the assumption that sensing performance is independent of the locations of sensors. We extend this work to a more general framework where the sensor model is location-dependent. We propose a distributed control law and coordination algorithm. If the global sensing performance function is known a priori, we prove that the algorithm is guaranteed to converge. To validate this algorithm, we conduct experiments with indoor and outdoor deployments of Cyclops cameras and model its sensing performance. This model is used to simulate deployments on 1D pathways and study the coverage obtained. We also examine the coverage in the case when the global sensing function is not known and is estimated in an online fashion.
Ajay Deshpande, Sameera Poduri, Daniela Rus, Gaura
Added 23 May 2010
Updated 23 May 2010
Type Conference
Year 2009
Where ICRA
Authors Ajay Deshpande, Sameera Poduri, Daniela Rus, Gaurav S. Sukhatme
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