Nonuniform coverage control on the line

Naomi Ehrich Leonard; Alex Olshevsky

doi:10.1109/CDC.2011.6160876

Nonuniform coverage control on the line

Naomi Ehrich Leonard, Alex Olshevsky

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

6 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 language	English (US)
Title of host publication	2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	753-758
Number of pages	6
ISBN (Print)	9781612848006
DOIs	https://doi.org/10.1109/CDC.2011.6160876
State	Published - 2011
Externally published	Yes
Event	2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011 - Orlando, FL, United States Duration: Dec 12 2011 → Dec 15 2011

Publication series

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

Other

Other	2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
Country/Territory	United States
City	Orlando, FL
Period	12/12/11 → 12/15/11

All Science Journal Classification (ASJC) codes

Control and Systems Engineering
Modeling and Simulation
Control and Optimization

Access to Document

10.1109/CDC.2011.6160876

Cite this

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title = "Nonuniform coverage control on the line",

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.",

author = "Leonard, {Naomi Ehrich} and Alex Olshevsky",

year = "2011",

doi = "10.1109/CDC.2011.6160876",

language = "English (US)",

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

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

pages = "753--758",

booktitle = "2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011",

address = "United States",

note = "2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011 ; Conference date: 12-12-2011 Through 15-12-2011",

}

Leonard, NE & 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., 6160876, Proceedings of the IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers Inc., pp. 753-758, 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011, Orlando, FL, United States, 12/12/11. https://doi.org/10.1109/CDC.2011.6160876

Nonuniform coverage control on the line. / Leonard, Naomi Ehrich; Olshevsky, Alex.
2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011. Institute of Electrical and Electronics Engineers Inc., 2011. p. 753-758 6160876 (Proceedings of the IEEE Conference on Decision and Control).

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

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AB - 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.

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PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011

Y2 - 12 December 2011 through 15 December 2011

ER -

Nonuniform coverage control on the line

Abstract

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All Science Journal Classification (ASJC) codes

Access to Document

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Cite this