Decentralized, Adaptive Control for Coverage with Networked Robots

Author

Schwager, Mac ; Slotine, Jean-Jacques ; Rus, Daniela

Author_Institution

Comput. Sci. & Artificial Intelligence Lab, MIT, Cambridge, MA

fYear

2007

fDate

10-14 April 2007

Firstpage

3289

Lastpage

3294

Abstract

A decentralized, adaptive control law is presented to drive a network of mobile robots to a near-optimal sensing configuration. The control law is adaptive in that it integrates sensor measurements to provide a converging estimate of the distribution of sensory information in the environment. It is decentralized in that it requires only information local to each robot. A Lyapunov-type proof is used to show that the control law causes the network to converge to a near-optimal sensing configuration, and the controller is demonstrated in numerical simulations. This technique suggests a broader application of adaptive control methodologies to decentralized control problems in unknown dynamical environments.

Keywords

Lyapunov methods; adaptive control; decentralised control; mobile robots; multi-robot systems; wireless sensor networks; Lyapunov-type proof; adaptive control; decentralized control; mobile robots; near-optimal sensing configuration; networked robots; unknown dynamical environment; Adaptive control; Automatic control; Control systems; Distributed control; Mobile robots; Programmable control; Robot control; Robot sensing systems; Robotics and automation; Stability;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2007 IEEE International Conference on

Conference_Location

Roma

ISSN

1050-4729

Print_ISBN

1-4244-0601-3

Electronic_ISBN

1050-4729

Type

conf

DOI

10.1109/ROBOT.2007.363980

Filename

4209598