Decentralized coordinated control of a vehicle network for deployment in sweep coverage

Author

Cheng, Teddy M. ; Savkin, Andrey V.

Author_Institution

Sch. of Electr. Eng. & Telecommun., Univ. of New South Wales, Sydney, NSW, Australia

fYear

2009

fDate

9-11 Dec. 2009

Firstpage

275

Lastpage

279

Abstract

This paper addresses a problem of sweep coverage by a network of self-deployed autonomous vehicles. We propose a decentralized motion coordination algorithm for the vehicles to accomplish the deployment objective of sweep coverage. The control algorithm is developed theoretically using the ideas of nearest neighbor rules, and its effectiveness is illustrated via numerical simulations.

Keywords

decentralised control; mobile robots; motion control; numerical analysis; self-adjusting systems; vehicles; autonomous unmanned vehicle; decentralized coordinated control; decentralized motion coordination; nearest neighbor rules; numerical simulation; self-deployed autonomous vehicle; sweep coverage; vehicle network; Automatic control; Communication system control; Distributed control; Event detection; Mobile robots; Nearest neighbor searches; Remotely operated vehicles; Robot kinematics; Sea measurements; Sensor systems; Agents and autonomous systems; autonomous unmanned vehicles; decentralized control; mobile robots; sensor deployment; sweep coverage;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Automation, 2009. ICCA 2009. IEEE International Conference on

Conference_Location

Christchurch

Print_ISBN

978-1-4244-4706-0

Electronic_ISBN

978-1-4244-4707-7

Type

conf

DOI

10.1109/ICCA.2009.5410535

Filename

5410535