An adaptive coverage control algorithm for deployment of nonholonomic mobile sensors

Jose Marcio Luna, Rafael Fierro, Chaouki Abdallah, John Wood

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

19 Scopus citations

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.

Original languageEnglish
Title of host publication2010 49th IEEE Conference on Decision and Control, CDC 2010
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1250-1256
Number of pages7
ISBN (Print)9781424477456
DOIs
StatePublished - 2010
Event49th IEEE Conference on Decision and Control, CDC 2010 - Atlanta, United States
Duration: Dec 15 2010Dec 17 2010

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0743-1546
ISSN (Electronic)2576-2370

Conference

Conference49th IEEE Conference on Decision and Control, CDC 2010
Country/TerritoryUnited States
CityAtlanta
Period12/15/1012/17/10

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