相关论文: Non-linear Barrier Coverage using Mobile Wireless …
We propose two novel algorithms for distributed and location-free boundary recognition in wireless sensor networks. Both approaches enable a node to decide autonomously whether it is a boundary node, based solely on connectivity information…
We study the problem of distributed coverage control in a network of mobile agents arranged on a line. The goal is to design distributed dynamics for the agents to achieve optimal coverage positions with respect to a scalar density field…
An effective approach for energy conservation in wireless sensor networks is scheduling sleep intervals for extraneous nodes while the remaining nodes stay active to provide continuous service. For the sensor network to operate successfully…
We consider a network of binary-valued sensors with a fusion center. The fusion center has to perform K-means clustering on the binary data transmitted by the sensors. In order to reduce the amount of data transmitted within the network,…
Control barrier functions (CBF) are widely explored to enforce the safety-critical constraints on nonlinear systems recently. There are many researchers incorporating the control barrier functions into path planning algorithms to find a…
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…
Many applications of wireless sensor networks (WSNs) require deploying sensors in hostile environments, where an adversary may eavesdrop communications. To secure communications in WSNs, the q-composite key predistribution scheme has been…
We describe a new approach for dealing with the following central problem in the self-organization of a geometric sensor network: Given a polygonal region R, and a large, dense set of sensor nodes that are scattered uniformly at random in…
In this work, we study the target detection and tracking problem in mobile sensor networks, where the performance metrics of interest are probability of detection and tracking coverage, when the target can be stationary or mobile and its…
This paper presents the gatekeeper algorithm, a real-time and computationally-lightweight method that ensures that trajectories of a nonlinear system satisfy safety constraints despite sensing limitations. gatekeeper integrates with…
While conventional (k=1) discrete-time barrier certificate conditions impose strict safety constraints by requiring the function to be non-increasing at every step, k-inductive barrier certificates relax this by allowing a temporary…
We show that a single moving quantum sensor provides complete access to spatially correlated scalar fields. We demonstrate that with either trajectory or internal state control, one can selectively measure any linear functional, e.g. a…
We develop a control algorithm that ensures the safety, in terms of confinement in a set, of a system with unknown, 2nd-order nonlinear dynamics. The algorithm establishes novel connections between data-driven and robust, nonlinear control.…
This paper deals with the coverage problem of wireless sensor network. We use the density based clustering technique - OPTICS to cover a target region with less number of sensor nodes. OPTICS works well to identify the outliers, core points…
This paper presents a secure safety filter design for nonlinear systems under sensor spoofing attacks. Existing approaches primarily focus on linear systems which limits their applications in real-world scenarios. In this work, we extend…
It has long been a prominent challenge in multi-agent systems to achieve distributed coverage of non-convex annulus environments while ensuring workload equalization among agents. To address this challenge, a distributed circumferential…
For a nonlinear system (e.g. a robot) with its continuous state space trajectories constrained by a linear temporal logic specification, the synthesis of a low-level controller for mission execution often results in a non-convex…
In this paper we discuss how to use a barrier function that is subject to kinematic constraints and limited sensing in order to guarantee that fixed wing unmanned aerial vehicles (UAVs) will maintain safe distances from each other at all…
We study the problem of sensor placement in environments in which localization is a necessity, such as ad-hoc wireless sensor networks that allow the placement of a few anchors that know their location or sensor arrays that are tracking a…
The main constraint of wireless sensor networks (WSN) in enabling wireless image communication is the high energy requirement, which may exceed even the future capabilities of battery technologies. In this paper we have shown that this…