An Adaptive Coverage Control for Deployment of Nonholonomic Mobile Sensor Networks Over Time-Varying Sensory Functions

In this paper we show the Lyapunov stability of an adaptive and decentralized coverage control for a team of mobile sensors. This new coverage approach assumes nonholonomic sensors rather than the holonomic ones usually found in the literature. Furthermore, sufficient conditions are provided to guar...

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Bibliographic Details
Published inAsian journal of control Vol. 15; no. 4; pp. 988 - 1000
Main Authors Luna, José Marcio, Fierro, Rafael, Abdallah, Chaouki T., Wood, John
Format Journal Article
LanguageEnglish
Published Hoboken Blackwell Publishing Ltd 01.07.2013
Wiley Subscription Services, Inc
Subjects
adaptive control
Control systems
Convergence
Coverage control
Lyapunov stability
nonholonomic mobile robots
Sensors
Simulation
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ISSN1561-8625
1934-6093
DOI10.1002/asjc.636

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Summary:In this paper we show the Lyapunov stability of an adaptive and decentralized coverage control for a team of mobile sensors. This new coverage approach assumes nonholonomic sensors rather than the holonomic ones usually found in the literature. Furthermore, sufficient conditions are provided to guarantee an ultimate bound for the system when in presence of time‐varying sensory functions. The convergence and feasibility of the coverage control are verified through simulation and experimental results.
Bibliography:Department of Energy URPR - No. DE-FG52-04NA25590
ArticleID:ASJC636
istex:E4654DA7DC5C12FFA03ABDA59E1B63980DA45AE4
NSF - No. ECCS #1027775; No. IIS #0812338; No. CNS #0709329
ark:/67375/WNG-HPGGH3TD-K
ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
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ISSN:1561-8625
1934-6093
DOI:10.1002/asjc.636