Title :
Effective Coverage Control using Dynamic Sensor Networks with Flocking and Guaranteed Collision Avoidance
Author :
Islam I. Hussein;Dusan M. Stipanovic
Author_Institution :
Mechanical Engineering, Worcester Polytechnic Institute, Worcester, MA 01581 USA. ihussein@wpi.edu
fDate :
7/1/2007 12:00:00 AM
Abstract :
This paper studies the problem of dynamically covering a given region D in R2 using a set of N mobile sensor agents. The coverage goal is to sample each point in the mission domain to a desired preset level. It is crucial in many dynamic coverage missions that the vehicles flock to guarantee reliable wireless communication links between the agents, while avoiding the risk of collisions. Dynamic coverage control strategies developed by the authors in their previous publications are modified for both flocking and guaranteed collision avoidance. Several numerical examples are provided to illustrate the main ideas.
Keywords :
"Collision avoidance","Vehicle dynamics","Communication system control","Wireless sensor networks","Control systems","Sensor systems","Surveillance","Multiagent systems","Mobile communication","Space missions"
Conference_Titel :
American Control Conference, 2007. ACC ´07
Print_ISBN :
1-4244-0988-8
Electronic_ISBN :
2378-5861
DOI :
10.1109/ACC.2007.4282310