Cooperative control of mobile sensor networks: Adaptive gradient climbing in a distributed environment

Petter Ögren, Edward Fiorelli, Naomi Ehrich Leonard

Research output: Contribution to journalArticle

917 Scopus citations

Abstract

We present a stable control strategy for groups of vehicles to move and reconfigure cooperatively in response to a sensed, distributed environment. Each vehicle in the group serves as a mobile sensor and the vehicle network as a mobile and reconfigurable sensor array. Our control strategy decouples, in part, the cooperative management of the network formation from the network maneuvers. The underlying coordination framework uses virtual bodies and artificial potentials. We focus on gradient climbing missions in which the mobile sensor network seeks out local maxima or minima in the environmental field. The network can adapt its configuration in response to the sensed environment in order to optimize its gradient climb.

Original languageEnglish (US)
Pages (from-to)1292-1302
Number of pages11
JournalIEEE Transactions on Automatic Control
Volume49
Issue number8
DOIs
StatePublished - Aug 2004

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Cooperative control of mobile sensor networks: Adaptive gradient climbing in a distributed environment'. Together they form a unique fingerprint.

  • Cite this