This paper presents control and coordination algorithms for groups of vehicles. The focus is on autonomous vehicle networks performing distributed sensing tasks where each vehicle plays the role of a mobile tunable sensor. The paper proposes gradient descent algorithms for a class of utility functions which encode optimal coverage and sensing policies. The resulting closed-loop behavior is adaptive, distributed, asynchronous, and verifiably correct.
@article{arxiv.math/0212212,
title = {Coverage control for mobile sensing networks},
author = {J. Cortes and S. Martinez and T. Karatas and F. Bullo},
journal= {arXiv preprint arXiv:math/0212212},
year = {2007}
}
Comments
13 pages; double column; 6 figures; submitted to IEEE Transactions on Robotics and Automation