Coordinated Deployment of Mobile Sensing Networks with Limited-Range Interactions

Abstract

This paper presents coordination algorithms for groups of mobile agents performing deployment and coverage tasks. As an important modeling constraint, we assume that each mobile agent has a limited sensing or communication radius. We focus on (1) a comprehensive smoothness analysis of a class of locational optimization functions (including a generalized statement of the Conservation-of-Mass Law), and (2) a discrete-time convergence result based on a recently-developed generalized statement of LaSalle Invariance Principle. These coordination algorithms have convergence guarantees and are spatially distributed with respect to appropriate proximity graphs. Numerical simulations illustrate the results.

Open PDF

Document Details

Document Type
Technical Report
Publication Date
Dec 17, 2004
Accession Number
AD1020645

Entities

People

  • Francesco Bullo
  • Jorge Cortés
  • Sonia Martı́nez

Organizations

  • University of Illinois Urbana–Champaign

Tags

Communities of Interest

  • Autonomy
  • Energy and Power Technologies

DTIC Thesaurus Topics

  • Algorithms
  • Boundaries
  • Communication Networks
  • Computations
  • Coverings
  • Detectors
  • Education
  • Environment
  • Equations
  • Fluid Mechanics
  • Geometry
  • Graph Theory
  • Mass
  • Networks
  • Optimization
  • Sequences
  • Simulations

Readers

  • Adaptive Control and Estimation with Uncertainty in Dynamic Systems.
  • Agent-Based Social Robotics and Mobile-Assisted Learning in Virtual Environments.
  • Calculus or Mathematical Analysis