Monitoring Environmental Boundaries with a Robotic Sensor Network
Abstract
In this paper, we propose and analyze two algorithms to monitor an environmental boundary with mobile sensors. The objective is to optimally approximate the boundary with a polygon. In the first scenario the mobile sensors know the boundary and the approximating polygon is defined by the sensors' positions. In the second scenario the mobile sensors rely only on sensed local information to position some interpolation points and define an approximating polygon. For both scenarios we design algorithms that distribute the vertices of the approximating polygon uniformly along the boundary. The notion of uniform placement relies on a metric inspired by known results on approximation of convex bodies. The first algorithm is proved to converge in the case of static boundaries whereas the second one is provably convergent also for slowly-moving boundaries because of certain input-to-state stability properties.
Document Details
- Document Type
- Technical Report
- Publication Date
- Mar 23, 2006
- Accession Number
- ADA459072
Entities
People
- Francesco Bullo
- Sara Susca
- Sonia Martı́nez
Organizations
- University of California, Santa Barbara