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

Decentralized Coverage Control Problems For Mobile Robotic Sensor and Actuator Networks (eBook, PDF)

• Format: PDF

Produktbeschreibung

This book introduces various coverage control problems for mobile sensor networks including barrier, sweep and blanket. Unlike many existing algorithms, all of the robotic sensor and actuator motion algorithms developed in the book are fully decentralized or distributed, computationally efficient, easily implementable in engineering practice and based only on information on the closest neighbours of each mobile sensor and actuator and local information about the environment. Moreover, the mobile robotic sensors have no prior information about the environment in which they operation. These various types of coverage problems have never been covered before by a single book in a systematic way. Another topic of this book is the study of mobile robotic sensor and actuator networks. Many modern engineering applications include the use of sensor and actuator networks to provide efficient and effective monitoring and control of industrial and environmental processes. Such mobile sensor and actuator networks are able to achieve improved performance and efficient monitoring together with reduction in power consumption and production cost.

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Produktdetails

• Verlag: John Wiley & Sons
• Seitenzahl: 208
• Erscheinungstermin: 19. Mai 2015
• Englisch
• ISBN-13: 9781119057949
• Artikelnr.: 42923448

Autorenporträt

Andrey Savkin is a professor and Research Chair of Electrical Engineering and Telecommunications at the University of New South Wales, Australia since 2000. He received his MS from Leningrad State University, Russia and is currently a part-time PhD student at the same institution . His areas of research include, but are not limited to, robust control and filtering, hybrid dynamical systems, communication networks, biomedical signal processing, and navigation and control of mobile robotics. Professor Savkin has co-authored several research monographs, and approximately 180 journal papers published by top international journals.

Inhaltsangabe

Preface ix 1 Introduction 1 1.1 Distributed Coverage Control of Mobile
Sensor and Actuator Networks 1 1.2 Overview of the Book 4 1.3 Some Other
Remarks 6 2 Barrier Coverage between Two Landmarks 9 2.1 Introduction 9 2.2
Problem of Barrier Coverage between Two Landmarks 10 2.3 Distributed
SelfDeployment Algorithm for Barrier Coverage 12 2.4 Illustrative Examples
14 3 Multi-level Barrier Coverage 17 3.1 Introduction 17 3.2 Problem of
KBarrier Coverage 18 3.3 Distributed Algorithm for KBarrier Coverage 22 3.4
Mathematical Analysis of the KBarrier Coverage Algorithm 25 3.5
Illustrative Examples 28 4 Problems of Barrier and Sweep Coverage in
Corridor Environments 33 4.1 Introduction 33 4.2 Corridor Coverage Problems
34 4.2.1 Barrier Coverage 35 4.2.2 Sweep Coverage 37 4.3 Barrier Coverage
in 1D Space 38 4.4 Corridor Barrier Coverage 39 4.5 Corridor Sweep Coverage
42 4.6 Illustrative Examples 43 5 Sweep Coverage along a Line 57 5.1
Introduction 57 5.2 Problem of Sweep Coverage along a Line 60 5.3 Sweep
Coverage along a Line 63 5.4 Assumptions and the Main Results 68 5.5
Illustrative Examples 72 5.5.1 StraightLine Sweeping Paths 73 5.5.2
Comparison with the Potential Field Approach 73 5.5.3 Sweep Coverage along
Nonstraight Lines 74 5.5.4 Scalability 75 5.5.5 Measurement Noises 76 5.5.6
Sea Exploration 77 5.6 Proofs of the Technical Facts Underlying Theorem 5.1
79 6 Optimal Distributed Blanket Coverage Problem 87 6.1 Introduction 87
6.2 Blanket Coverage Problem Formulation 88 6.3 Randomized Coverage
Algorithm 90 6.4 Illustrative Examples 93 7 Distributed Self-Deployment for
Forming a Desired Geometric Shape 97 7.1 Introduction 97 7.2 SelfDeployment
on a Square Grid 98 7.3 Illustrative Examples: Square Grid Deployment 103
7.4 SelfDeployment in a Desired Geometric Shape 104 7.5 Illustrative
Examples: Various Geometric Shapes 105 7.5.1 Circular Formation 106 7.5.2
Ellipse Formation 106 7.5.3 Rectangular Formation 108 7.5.4 Ring Formation
108 7.5.5 Regular Hexagon Formation 112 8 Mobile Sensor and Actuator
Networks: Encircling, Termination and Hannibal's Battle of Cannae Maneuver
113 8.1 Introduction 113 8.2 Encircling Coverage of a Moving Region 115 8.3
Randomized Encircling Algorithm 117 8.4 Termination of a Moving Region by a
Sensor and Actuator Network 119 8.5 Illustrative Examples 120 9
Asymptotically Optimal Blanket Coverage between Two Boundaries 129 9.1
Introduction 129 9.2 Problem of Blanket Coverage between Two Lines 133 9.3
Blanket Coverage Algorithm 137 9.3.1 Description 138 9.3.2 Control Laws 138
9.3.3 Algorithm Convergence 144 9.4 Triangular Blanket Coverage between
Curves 145 9.5 Illustrative Examples 148 9.6 Proof of Theorem 9.2 149 10
Distributed Navigation for Swarming with a Given Geometric Pattern 157 10.1
Introduction 157 10.2 Navigation for Swarming Problem 159 10.3 Distributed
Navigation Algorithm 161 10.3.1 First Stage 161 10.3.2 Second Stage 165
10.3.3 Behavior of the Proposed Algorithm 168 10.4 Illustrative Examples
and Computer Simulation Results 168 10.5 Theoretical Analysis of the
Algorithm 171 References 181 Index 191