Abstract
We describe decentralized control laws for the coordination of multiple vehicles performing spatially distributed tasks. The control laws are based on a gradient descent scheme applied to a class of decentralized navigation functions that encode optimal coverage and sensing policies. The approach exploits the computational geometry of Voronoi diagrams.
Our central motivation in this note is provided by distributed sensing networks in scientific exploration or surveillance missions. The motion coordination problem is to maximize the information provided by a swarm of vehicles taking measurement of some process.
Our central motivation in this note is provided by distributed sensing networks in scientific exploration or surveillance missions. The motion coordination problem is to maximize the information provided by a swarm of vehicles taking measurement of some process.
Original language | English |
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Title of host publication | 21st Benelux Meeting on Systems and Control, March 19 – 21, 2002, Veldhoven, The Netherlands |
Subtitle of host publication | Book of Abstracts |
Editors | Bram de Jager, Hans Zwart |
Place of Publication | Eindhoven |
Publisher | Technische Universiteit Eindhoven |
Pages | 54-54 |
Number of pages | 1 |
ISBN (Print) | 90-386-2893-5 |
Publication status | Published - 2002 |
Event | 21st Benelux Meeting on Systems and Control 2002 - Veldhoven, Netherlands Duration: 19 Mar 2002 → 21 Mar 2002 Conference number: 21 |
Conference
Conference | 21st Benelux Meeting on Systems and Control 2002 |
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Country | Netherlands |
City | Veldhoven |
Period | 19/03/02 → 21/03/02 |