Coordinated deployment of mobile sensing networks with limited-range interactions

2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601) Pub Date : 2004-12-17 DOI:10.1109/CDC.2004.1430332

J. Cortés, S. Martínez, F. Bullo

引用次数: 24

Abstract

This paper presents coordination algorithms for groups of mobile agents performing deployment and coverage tasks. As an important modeling constraint, we assume that each mobile agent has a limited sensing or communication radius. We focus on (1) a comprehensive smoothness analysis of a class of locational optimization functions (including a generalized statement of the conservation-of-mass law), and (2) a discrete-time convergence result based on a recently-developed generalized statement of LaSalle invariance principle. Our coordination algorithms have convergence guarantees and are spatially distributed with respect to appropriate proximity graphs. Numerical simulations illustrate the results.

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具有有限范围相互作用的移动传感网络的协调部署

本文提出了一种用于执行部署和覆盖任务的移动代理组的协调算法。作为一个重要的建模约束，我们假设每个移动代理具有有限的感知或通信半径。本文重点研究了(1)一类位置优化函数的全面光滑性分析(包括质量守恒定律的广义表述)，以及(2)基于最近发展的LaSalle不变性原理的广义表述的离散时间收敛结果。我们的协调算法具有收敛性保证，并且相对于适当的接近图是空间分布的。数值模拟验证了结果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)

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