An Adaptive Coverage Control for Deployment of Nonholonomic Mobile Sensor Networks Over Time-Varying Sensory Functions

An Adaptive Coverage Control for Deployment of Nonholonomic Mobile Sensor Networks Over Time-Varying Sensory Functions

In this paper we show the Lyapunov stability of an adaptive and decentralized coverage control for a team of mobile sensors. This new coverage approach assumes nonholonomic sensors rather than the holonomic ones usually found in the literature. Furthermore, sufficient conditions are provided to guar...

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Veröffentlicht in:Asian journal of control 2013-07, Vol.15 (4), p.988-1000
Hauptverfasser: Luna, José Marcio, Fierro, Rafael, Abdallah, Chaouki T., Wood, John
Format: Artikel
Sprache:eng
Schlagworte:
adaptive control
Control systems
Convergence
Coverage control
Lyapunov stability
nonholonomic mobile robots
Sensors
Simulation
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container_title Asian journal of control
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creator Luna, José Marcio
Fierro, Rafael
Abdallah, Chaouki T.
Wood, John
description In this paper we show the Lyapunov stability of an adaptive and decentralized coverage control for a team of mobile sensors. This new coverage approach assumes nonholonomic sensors rather than the holonomic ones usually found in the literature. Furthermore, sufficient conditions are provided to guarantee an ultimate bound for the system when in presence of time‐varying sensory functions. The convergence and feasibility of the coverage control are verified through simulation and experimental results.
doi_str_mv 10.1002/asjc.636
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source Wiley Online Library Journals Frontfile Complete
subjects adaptive control
Control systems
Convergence
Coverage control
Lyapunov stability
nonholonomic mobile robots
Sensors
Simulation
title An Adaptive Coverage Control for Deployment of Nonholonomic Mobile Sensor Networks Over Time-Varying Sensory Functions
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