An adaptive coverage control for deployment of nonholonomic mobile sensor networks over time-varying sensory functions

José Marcio Luna; Rafael Fierro; Chaouki T. Abdallah; John Wood

doi:10.1002/asjc.636

An adaptive coverage control for deployment of nonholonomic mobile sensor networks over time-varying sensory functions

José Marcio Luna, Rafael Fierro, Chaouki T. Abdallah, John Wood

Research output: Contribution to journal › Article › peer-review

16 Scopus citations

Abstract

In this paper we show the Lyapunov stability of an adaptive and decentralized coverage control for a team of mobile sensors. This new coverage approach assumes nonholonomic sensors rather than the holonomic ones usually found in the literature. Furthermore, sufficient conditions are provided to guarantee an ultimate bound for the system when in presence of time-varying sensory functions. The convergence and feasibility of the coverage control are verified through simulation and experimental results.

Original language	English
Pages (from-to)	988-1000
Number of pages	13
Journal	Asian Journal of Control
Volume	15
Issue number	4
DOIs	https://doi.org/10.1002/asjc.636
State	Published - Jul 2013

Keywords

Coverage control
Lyapunov stability
adaptive control
nonholonomic mobile robots

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10.1002/asjc.636

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An adaptive coverage control for deployment of nonholonomic mobile sensor networks over time-varying sensory functions

Abstract

Keywords

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