Nonuniform coverage and cartograms

Francois Lekien; Naomi Ehrich Leonard

doi:10.1109/CDC.2010.5717953

Nonuniform coverage and cartograms

Francois Lekien, Naomi Ehrich Leonard

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

5 Scopus citations

Abstract

In this paper, we summarize our investigation of nonuniform coverage of a planar region by a network of autonomous, mobile agents. We derive centralized nonuniform coverage control laws from uniform coverage algorithms using cartograms, transformations that map nonuniform metrics to a near Euclidean metric. We also investigate time-varying coverage metrics and the design of control algorithms to cover regions with slowly varying, nonuniform metrics. Our results are applicable to the design of mobile sensor networks, notably when the coverage metric varies as data is collected such as in the case of an information metric. The results apply also to the study of animal groups foraging for food that is nonuniformly distributed and possibly changing.

Original language	English (US)
Title of host publication	2010 49th IEEE Conference on Decision and Control, CDC 2010
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	5518-5523
Number of pages	6
ISBN (Print)	9781424477456
DOIs	https://doi.org/10.1109/CDC.2010.5717953
State	Published - 2010
Event	49th IEEE Conference on Decision and Control, CDC 2010 - Atlanta, United States Duration: Dec 15 2010 → Dec 17 2010

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Conference

Conference	49th IEEE Conference on Decision and Control, CDC 2010
Country/Territory	United States
City	Atlanta
Period	12/15/10 → 12/17/10

All Science Journal Classification (ASJC) codes

Control and Systems Engineering
Modeling and Simulation
Control and Optimization

Access to Document

10.1109/CDC.2010.5717953

Cite this

@inproceedings{cb5a65165be249d89405111fc43550eb,

title = "Nonuniform coverage and cartograms",

abstract = "In this paper, we summarize our investigation of nonuniform coverage of a planar region by a network of autonomous, mobile agents. We derive centralized nonuniform coverage control laws from uniform coverage algorithms using cartograms, transformations that map nonuniform metrics to a near Euclidean metric. We also investigate time-varying coverage metrics and the design of control algorithms to cover regions with slowly varying, nonuniform metrics. Our results are applicable to the design of mobile sensor networks, notably when the coverage metric varies as data is collected such as in the case of an information metric. The results apply also to the study of animal groups foraging for food that is nonuniformly distributed and possibly changing.",

author = "Francois Lekien and Leonard, {Naomi Ehrich}",

year = "2010",

doi = "10.1109/CDC.2010.5717953",

language = "English (US)",

isbn = "9781424477456",

series = "Proceedings of the IEEE Conference on Decision and Control",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "5518--5523",

booktitle = "2010 49th IEEE Conference on Decision and Control, CDC 2010",

address = "United States",

note = "49th IEEE Conference on Decision and Control, CDC 2010 ; Conference date: 15-12-2010 Through 17-12-2010",

}

Lekien, F & Leonard, NE 2010, Nonuniform coverage and cartograms. in 2010 49th IEEE Conference on Decision and Control, CDC 2010., 5717953, Proceedings of the IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers Inc., pp. 5518-5523, 49th IEEE Conference on Decision and Control, CDC 2010, Atlanta, United States, 12/15/10. https://doi.org/10.1109/CDC.2010.5717953

Nonuniform coverage and cartograms. / Lekien, Francois; Leonard, Naomi Ehrich.
2010 49th IEEE Conference on Decision and Control, CDC 2010. Institute of Electrical and Electronics Engineers Inc., 2010. p. 5518-5523 5717953 (Proceedings of the IEEE Conference on Decision and Control).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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AU - Lekien, Francois

AU - Leonard, Naomi Ehrich

PY - 2010

Y1 - 2010

N2 - In this paper, we summarize our investigation of nonuniform coverage of a planar region by a network of autonomous, mobile agents. We derive centralized nonuniform coverage control laws from uniform coverage algorithms using cartograms, transformations that map nonuniform metrics to a near Euclidean metric. We also investigate time-varying coverage metrics and the design of control algorithms to cover regions with slowly varying, nonuniform metrics. Our results are applicable to the design of mobile sensor networks, notably when the coverage metric varies as data is collected such as in the case of an information metric. The results apply also to the study of animal groups foraging for food that is nonuniformly distributed and possibly changing.

AB - In this paper, we summarize our investigation of nonuniform coverage of a planar region by a network of autonomous, mobile agents. We derive centralized nonuniform coverage control laws from uniform coverage algorithms using cartograms, transformations that map nonuniform metrics to a near Euclidean metric. We also investigate time-varying coverage metrics and the design of control algorithms to cover regions with slowly varying, nonuniform metrics. Our results are applicable to the design of mobile sensor networks, notably when the coverage metric varies as data is collected such as in the case of an information metric. The results apply also to the study of animal groups foraging for food that is nonuniformly distributed and possibly changing.

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T3 - Proceedings of the IEEE Conference on Decision and Control

SP - 5518

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BT - 2010 49th IEEE Conference on Decision and Control, CDC 2010

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Y2 - 15 December 2010 through 17 December 2010

ER -

Nonuniform coverage and cartograms

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All Science Journal Classification (ASJC) codes

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