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563
Spatiallydistributed coverage optimization and control with limitedrange interactions
 ESAIM Control, Optimisation Calculus Variations
, 2005
"... Abstract. This paper presents coordination algorithms for groups of mobile agents performing deployment and coverage tasks. As an important modeling constraint, we assume that each mobile agent has a limited sensing/communication radius. Based on the geometry of Voronoi partitions and proximity grap ..."
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Cited by 95 (30 self)
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Abstract. This paper presents coordination algorithms for groups of mobile agents performing deployment and coverage tasks. As an important modeling constraint, we assume that each mobile agent has a limited sensing/communication radius. Based on the geometry of Voronoi partitions and proximity graphs, we analyze a class of aggregate objective functions and propose coverage algorithms in continuous and discrete time. These algorithms have convergence guarantees and are spatially distributed with respect to appropriate proximity graphs. Numerical simulations illustrate the results.
Stabilization of planar collective motion: alltoall communication
 IEEE TRANSACTIONS ON AUTOMATIC CONTROL
, 2007
"... This paper proposes a design methodology to stabilize isolated relative equilibria in a model of alltoall coupled identical particles moving in the plane at unit speed. Isolated relative equilibria correspond to either parallel motion of all particles with fixed relative spacing or circular motio ..."
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Cited by 90 (32 self)
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This paper proposes a design methodology to stabilize isolated relative equilibria in a model of alltoall coupled identical particles moving in the plane at unit speed. Isolated relative equilibria correspond to either parallel motion of all particles with fixed relative spacing or circular motion of all particles with fixed relative phases. The stabilizing feedbacks derive from Lyapunov functions that prove exponential stability and suggest almost global convergence properties. The results of the paper provide a loworder parametric family of stabilizable collectives that offer a set of primitives for the design of higherlevel tasks at the group level.
Stabilization of planar collective motion with limited communication
 IEEE Trans. Automat. Contr
"... Abstract—This paper proposes a design methodology to stabilize relative equilibria in a model of identical, steered particles moving in the plane at unit speed. Relative equilibria either correspond to parallel motion of all particles with fixed relative spacing or to circular motion of all particle ..."
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Cited by 86 (29 self)
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Abstract—This paper proposes a design methodology to stabilize relative equilibria in a model of identical, steered particles moving in the plane at unit speed. Relative equilibria either correspond to parallel motion of all particles with fixed relative spacing or to circular motion of all particles around the same circle. Particles exchange relative information according to a communication graph that can be undirected or directed and timeinvariant or timevarying. The emphasis of this paper is to show how previous results assuming alltoall communication can be extended to a general communication framework. Index Terms—Cooperative control, geometric control, multiagent systems, stabilization. I.
The Sensor Selection Problem for Bounded Uncertainty Sensing Models
 IEEE Tran. Automation Science and Engineering
, 2005
"... We address the problem of selecting sensors so as to minimize the error in estimating the position of a target. We consider a generic sensor model where the measurements can be interpreted as polygonal, convex subsets of the plane. This model applies to a large class of sensors including cameras. We ..."
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Cited by 73 (3 self)
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We address the problem of selecting sensors so as to minimize the error in estimating the position of a target. We consider a generic sensor model where the measurements can be interpreted as polygonal, convex subsets of the plane. This model applies to a large class of sensors including cameras. We present an approximation algorithm which guarantees that the resulting error in estimation is within a factor 2 of the least possible error. In establishing this result, we formally prove that a constant number of sensors suffice for a good estimate  an observation made by many researchers. In the second part of the paper, we study the scenario where the target's position is given by an uncertainty region and present algorithms for both probabilistic and online versions of this problem.
Distributed algorithms for dispersion in indoor environments using a swarm of autonomous mobile robots
 in 7th International Symposium on Distributed Autonomous Robotic Systems (DARS
, 2004
"... We describe a set of distributed algorithms used to disperse a large group of autonomous mobile robots efficiently throughout an indoor environment. Only local interrobot communication and processing is used. Adhoc communications network topologies formed by gradient floods spread messages and gui ..."
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Cited by 66 (0 self)
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We describe a set of distributed algorithms used to disperse a large group of autonomous mobile robots efficiently throughout an indoor environment. Only local interrobot communication and processing is used. Adhoc communications network topologies formed by gradient floods spread messages and guide robot motion. Special attention has been given to doors, hallways, and other constrictions. The network maintains a route to chargers to allow selfcharging. 1
Decentralized estimation and control of graph connectivity in mobile sensor networks
 in American Control Conference
, 2008
"... Abstract — The ability of a robot team to reconfigure itself is useful in many applications: for metamorphic robots to change shape, for swarm motion towards a goal, for biological systems to avoid predators, or for mobile buoys to clean up oil spills. In many situations, auxiliary constraints, such ..."
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Cited by 58 (2 self)
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Abstract — The ability of a robot team to reconfigure itself is useful in many applications: for metamorphic robots to change shape, for swarm motion towards a goal, for biological systems to avoid predators, or for mobile buoys to clean up oil spills. In many situations, auxiliary constraints, such as connectivity between team members or limits on the maximum hopcount, must be satisfied during reconfiguration. In this paper, we show that both the estimation and control of the graph connectivity can be accomplished in a decentralized manner. We describe a decentralized estimation procedure that allows each agent to track the algebraic connectivity of a timevarying graph. Based on this estimator, we further propose a decentralized gradient controller for each agent to maintain global connectivity during motion. I.
Stochastic event capture using mobile sensors subject to a quality metric
 in Proc. of ACM MobiCom
, 2006
"... Mobile sensors cover more area over a period of time than the same number of stationary sensors. However, the quality of coverage achieved by mobile sensors depends on the velocity, mobility pattern, number of mobile sensors deployed and the dynamics of the phenomenon being sensed. The gains attaine ..."
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Cited by 57 (1 self)
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Mobile sensors cover more area over a period of time than the same number of stationary sensors. However, the quality of coverage achieved by mobile sensors depends on the velocity, mobility pattern, number of mobile sensors deployed and the dynamics of the phenomenon being sensed. The gains attained by mobile sensors over static sensors and the optimal motion strategies for mobile sensors are not well understood. In this paper we consider the problem of event capture using mobile sensors. The events of interest arrive at certain points in the sensor field and fade away according to arrival and departure time distributions. An event is said to be captured if it is sensed by one of the mobile sensors before it fades away. For this scenario we analyze how the quality of coverage scales with the velocity, path and number of mobile sensors. We characterize the cases where the deployment of mobile sensors has
Belief consensus and distributed hypothesis testing in sensor networks
 Network Embedded Sensing and Control. (Proceedings of NESC’05 Worskhop), volume 331 of Lecture Notes in Control and Information Sciences
, 2006
"... Summary. In this paper, we address distributed hypothesis testing (DHT) in sensor networks and Bayesian networks using the averageconsensus algorithm of OlfatiSaber & Murray. As a byproduct, we obtain a novel belief propagation algorithm called Belief Consensus. This algorithm works for connec ..."
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Cited by 57 (1 self)
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Summary. In this paper, we address distributed hypothesis testing (DHT) in sensor networks and Bayesian networks using the averageconsensus algorithm of OlfatiSaber & Murray. As a byproduct, we obtain a novel belief propagation algorithm called Belief Consensus. This algorithm works for connected networks with loops and arbitrary degree sequence. Belief consensus allows distributed computation of products of n beliefs (or conditional probabilities) that belong to n different nodes of a network. This capability enables distributed hypothesis testing for a broad variety of applications. We show that this belief propagation admits a Lyapunov function that quantifies the collective disbelief in the network. Belief consensus benefits from scalability, robustness to link failures, convergence under variable topology, asynchronous features of averageconsensus algorithm. Some connections between smallword networks and speed of convergence of belief consensus are discussed. A detailed example is provided for distributed detection of multitarget formations in a sensor network. The entire network is capable of reaching a common set of beliefs associated with correctness of different hypotheses. We demonstrate that our DHT algorithm successfully identifies a test formation in a network of sensors with selfconstructed statistical models. Key words: distributed hypothesis testing, multitarget tracking, Bayesian networks, average consensus, belief propagation, sensor networks, smallworld networks 1
Stupid Robot Tricks: A BehaviorBased Distributed Algorithm Library for Programming Swarms of Robots
, 2004
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Cited by 53 (8 self)
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Automated camera layout to satisfy taskspecific and floorplanspecific coverage requirements
 COMPUT. VIS. IMAGE UNDERST
, 2004
"... In many multicamera vision systems the effect of camera locations on the taskspecific quality of service is ignored. Researchers in Computational Geometry have proposed elegant solutions for some sensor location problem classes. Unfortunately, these solutions utilize unrealistic assumptions about t ..."
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Cited by 50 (1 self)
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In many multicamera vision systems the effect of camera locations on the taskspecific quality of service is ignored. Researchers in Computational Geometry have proposed elegant solutions for some sensor location problem classes. Unfortunately, these solutions utilize unrealistic assumptions about the cameras’ capabilities that make these algorithms unsuitable for many realworld computer vision applications: unlimited field of view, infinite depth of field, and/or infinite servo precision and speed. In this paper, the general camera placement problem is first defined with assumptions that are more consistent with the capabilities of realworld cameras. The region to be observed by cameras may be volumetric, static or dynamic, and may include holes that are caused, for instance, by columns or furniture in a room that can occlude potential camera views. A subclass of this general problem can be formulated in terms of planar regions that are typical of building floorplans. Given a floorplan to be observed, the problem is then to efficiently compute a camera layout such that certain taskspecific constraints are met. A solution to this problem is obtained via binary optimization over a discrete problem space. In experiments the performance of the resulting system is demonstrated with different real floorplans.