Related papers: Higher order Voronoi based mobile coverage control
Wireless sensor networks consisting of great number of cheap and tiny sensor nodes which are used for military environment controlling, natural events recording, traffic monitoring, robot navigation, and etc. Such a networks encounter with…
Complex systems are often composed of many small communicating components called modules. We investigate the synthesis of supervisory controllers for modular systems under partial observation that, as the closed-loop system, realize the…
We consider problem of constructing purely Voronoi mesh where the union of uncut Voronoi cells approximates the planar computational domain with piecewise-smooth boundary. Smooth boundary fragments are approximated by the Voronoi edges and…
Achieving accurate and robust global situational awareness of a complex time-evolving field from a limited number of sensors has been a longstanding challenge. This reconstruction problem is especially difficult when sensors are sparsely…
This work addresses the design of multi-agent coordination through high-order consensus protocols. While first-order consensus strategies are well-studied -- with known robustness to uncertainties such as time delays, time-varying weights,…
We propose a new model for heterogeneous cellular networks that incorporates dependencies between the layers. In particular, it places lower-tier base stations at locations that are poorly covered by the macrocells, and it includes a…
In this paper, we address the stochastic reach-avoid problem for linear systems with additive stochastic uncertainty. We seek to compute the maximum probability that the states remain in a safe set over a finite time horizon and reach a…
Detachment and fracture are central to many tissue-level processes, but they are challenging to simulate with Voronoi-type models that typically assume a confluent tissue. Here we analyze the finite Voronoi model, a nonconfluent extension…
Assuming a random uniform distribution of n sensor nodes over a virtual grid, this paper addresses the problem of finding the maximum number of connected set covers each ensuring 100% coverage of the query region. The connected sets remain…
The problem of multi-robot coverage control has been widely studied to efficiently coordinate a team of robots to cover a desired area of interest. However, this problem faces significant challenges when some robots are lost or deviate from…
Many physical systems can be studied as collections of particles embedded in space, evolving through deterministic evolution equations. Natural questions arise concerning how to characterize these arrangements - are they ordered or…
The number of mobile devices (e.g., smartphones, wearable technologies) is rapidly growing. In line with this trend, a massive amount of spatial data is being collected since these devices allow users to geo-tag user-generated content.…
Redundant sensing capabilities are often required in sensor network applications due to various reasons, e.g. robustness, fault tolerance, or increased accuracy. At the same time high sensor redundancy offers the possibility of increasing…
Sensors are vital for environmental monitoring, yet their effectiveness diminishes under spatial uncertainty. We propose a robust optimization framework for maximizing the coverage of aerial directional sensors under spatial uncertainty.…
In this paper, we study the longitudinal control problem for a platoon of vehicles with unknown nonlinear dynamics under both the predecessor-following and the bidirectional control architectures. The proposed control protocols are fully…
This paper develops a decentralized approach to mobile sensor coverage by a multi-robot system. We consider a scenario where a team of robots with limited sensing range must position itself to effectively detect events of interest in a…
Barrier coverage is a critical issue in wireless sensor networks for many practical applications,e.g., national border monitoring, security surveillance and intruder detection, etc. Its aim is to detect intruders that attempt to cross the…
We consider the problem of identification of safe regions in the environment of an autonomous system. The environment is divided into a finite collections of Voronoi cells, with each cell having a representative, the Voronoi center. The…
Handover measurement is responsible for finding a handover target and directly decides the performance of mobility management. It is governed by a complex combination of parameters dealing with multi-cell scenarios and system dynamics. A…
We present an improvement of a recent funnel controller design for uncertain nonlinear multi-input, multi-output systems modeled by higher order functional differential equations in the presence of input constraints. The objective is to…