By Andrey V. Savkin, Teddy M. Cheng, Zhiyu Xi, Faizan Javed, Alexey S. Matveev, Hung Nguyen

ISBN-10: 1119025222

ISBN-13: 9781119025221

This booklet introduces various coverage control difficulties for cellular sensor networks together with barrier, sweep and blanket. in contrast to many present algorithms, the entire robot sensor and actuator movement algorithms built within the publication are absolutely decentralized or disbursed, computationally effective, simply implementable in engineering perform and established merely on info at the closest neighbours of every cellular sensor and actuator and native information regarding the surroundings. additionally, the cellular robot sensors don't have any past information regarding the surroundings during which they operation. those a number of kinds of assurance difficulties have by no means been coated sooner than by way of a unmarried e-book in a scientific way.

Another subject of this booklet is the research of cellular robot sensor and actuator networks. Many sleek engineering purposes contain using sensor and actuator networks to supply effective and powerful tracking and keep watch over of commercial and environmental techniques. Such cellular sensor and actuator networks may be able to in achieving stronger functionality and effective tracking including relief in energy intake and creation expense.

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Extra resources for Decentralized Coverage Control Problems For Mobile Robotic Sensor and Actuator Networks

Example text

5) Let d2 < r be a desired distance between neighboring group leaders. 1). Specifically, for i = 1, 2, . . 6) i }, where l(φ¯ ) := [cos(φ¯ ) sin(φ¯ )]T , 1 := l(φ¯ )T L1 , i := 1 − (i − 1)d2, and l(φ¯ )T l(β ) = 0 by the definition of φ¯ . Next, we define a line dicular to i , i = 1, 2, . . , K by putting 1 := {p ∈ 2 : l(β )T (p − L1) = 0}. 7) Using the lines 1 , . . , K , we define Kn number of locations at which the sensors should be placed. Note that these locations are unknown to the sensors.

3(a) shows the positions of the sensors at the initial deployment ( ) at k = 0 and at final deployment (◦) at k = 200. Also, Fig. 3(a) shows the sensors’ trajectories. The velocities of the sensors are shown in Fig. 3(b). Initially, the sensors were randomly deployed near L1 except for sensor (1, 1), which was dispatched at L1 . 11). Similar results were obtained with different K, n, and φ¯ ; they are shown in Figs. 5. Again, the sensors formed K layers of sensor barriers in each scenario. In other words, any intruder’s path that is orthogonal to the line segment between L1 and L2 is detected by at least K sensors.

2, where K = 3 and n = 5. The objective of this chapter is to design a family of distributed control laws that steers the sensors so that they converge to the points hi, j . 1 (K-Barrier Coverage) Given Kn mobile robotic sensors and two distinct points L1 and L2 , a set of distributed motion control laws is said to be a K-barrier coverage coordinated control for the sensors between the points L1 and L2 if for almost all initial sensor positions, there exists a permutation of the set {1, 2, . .

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Decentralized Coverage Control Problems For Mobile Robotic Sensor and Actuator Networks by Andrey V. Savkin, Teddy M. Cheng, Zhiyu Xi, Faizan Javed, Alexey S. Matveev, Hung Nguyen


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