Cooperative Control of Mobile Sensor Networks: Adaptive Gradient Climbing
in a Distributed Environment
Petter Ogren, Edward Fiorelli and Naomi Ehrich Leonard
IEEE Transactions on Automatic Control, Volume 49:8, August 2004, 1292-1302
We present a stable control strategy for groups of vehicles
to move and re-configure cooperatively in response to a sensed, distributed
environment. Each vehicle in the group serves as a mobile sensor and the
vehicle network as a mobile and re-configurable sensor array. Our control
strategy decouples, in part, the cooperative management of the network
formation, the network maneuvers, and the network estimation of the environment.
The underlying coordination framework uses virtual bodies and artificial
potentials. We design the virtual body dynamics for two complementary purposes:
we specify the direction of its motion to satisfy the network's environment-driven
mission, and we regulate its speed to ensure network stability and convergence
properties. We focus on gradient climbing missions in which the mobile
sensor network seeks out local maxima or minima in the environmental field.
The network can adapt its configuration in response to the sensed environment
in order to optimize its gradient climb..
(504 KB, pdf)
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