Nonuniform coverage control on the line

Naomi Ehrich Leonard, Alex Olshevsky

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Scopus citations

Abstract

This paper investigates control laws allowing mobile, autonomous agents to optimally position themselves on the line for distributed sensing in a nonuniform field. We show that a simple static control law, based only on local measurements of the field by each agent, drives the agents to the optimal positions in time that is quadratic in the number of agents. Further, we exhibit a dynamic control law which, under slightly stronger assumptions on the capabilities and knowledge of each agent, drives the agents to the optimal positions an order of magnitude faster, namely in time that is linear in the number of agents. Both algorithms are fully distributed and robust to unpredictable loss and addition of agents.

Original languageEnglish (US)
Title of host publication2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
Pages753-758
Number of pages6
DOIs
StatePublished - Dec 1 2011
Event2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011 - Orlando, FL, United States
Duration: Dec 12 2011Dec 15 2011

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0191-2216

Other

Other2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
CountryUnited States
CityOrlando, FL
Period12/12/1112/15/11

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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  • Cite this

    Leonard, N. E., & Olshevsky, A. (2011). Nonuniform coverage control on the line. In 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011 (pp. 753-758). [6160876] (Proceedings of the IEEE Conference on Decision and Control). https://doi.org/10.1109/CDC.2011.6160876