Cooperative control of mobile sensor networks: Adaptive gradient climbing in a distributed environment (2004)
| Venue: | IEEE Transactions on Automatic Control |
| Citations: | 80 - 11 self |
BibTeX
@ARTICLE{Ögren04cooperativecontrol,
author = {Petter Ögren and Edward Fiorelli and Naomi Ehrich Leonard and Senior Member},
title = {Cooperative control of mobile sensor networks: Adaptive gradient climbing in a distributed environment},
journal = {IEEE Transactions on Automatic Control},
year = {2004},
volume = {49},
pages = {1292--1302}
}
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Abstract
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. Index Terms—Adaptive systems, cooperative control, gradient methods, mobile robots, multiagent systems, sensor networks. I.
