TY - JOUR
T1 - A binary consensus approach to decentralized coordination of nonholonomic sensor networks
AU - Luna, Jose Marcio
AU - Fierro, Rafael
AU - Abdallah, C. T.
AU - Lewis, Frank
PY - 2012
Y1 - 2012
N2 - In this paper we address a coverage control problem where a team of mobile sensors covers a chemical concentration defined by a distributed density function. The mobile sensors position themselves sub-optimally such that the larger the concentration over a specific area the greater the number of sensors over the area. We show the Lyapunov stability of an adaptive and decentralized version of the coverage control. This new coverage approach assumes nonholonomic sensors that synchronize themselves through a binary consensus protocol. The binary consensus protocol allows the compression of the data that every mobile sensor shares with its neighbors. Furthermore, we provide sufficient conditions to guarantee an uniform ultimate bound for the system when in presence of time-varying distributed density functions. The stability analysis of the coverage control is verified through simulation results.
AB - In this paper we address a coverage control problem where a team of mobile sensors covers a chemical concentration defined by a distributed density function. The mobile sensors position themselves sub-optimally such that the larger the concentration over a specific area the greater the number of sensors over the area. We show the Lyapunov stability of an adaptive and decentralized version of the coverage control. This new coverage approach assumes nonholonomic sensors that synchronize themselves through a binary consensus protocol. The binary consensus protocol allows the compression of the data that every mobile sensor shares with its neighbors. Furthermore, we provide sufficient conditions to guarantee an uniform ultimate bound for the system when in presence of time-varying distributed density functions. The stability analysis of the coverage control is verified through simulation results.
UR - http://www.scopus.com/inward/record.url?scp=84874227084&partnerID=8YFLogxK
U2 - 10.1109/CDC.2012.6426589
DO - 10.1109/CDC.2012.6426589
M3 - Conference article
AN - SCOPUS:84874227084
SN - 0743-1546
SP - 3353
EP - 3359
JO - Proceedings of the IEEE Conference on Decision and Control
JF - Proceedings of the IEEE Conference on Decision and Control
M1 - 6426589
T2 - 51st IEEE Conference on Decision and Control, CDC 2012
Y2 - 10 December 2012 through 13 December 2012
ER -