Nonuniform coverage control on the line

Naomi E. Leonard, Alexander Olshevsky

Research output: Contribution to journalArticle

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 close to the optimal positions after the agents execute in parallel a number of sensing/movement/ computation rounds that is essentially 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 close to the optimal positions after the agents execute in parallel a number of sensing/communication/computation/movement rounds that is essentially linear in the number of agents. Crucially, both algorithms are fully distributed and robust to unpredictable loss and addition of agents.

Original languageEnglish (US)
Article number6527308
Pages (from-to)2743-2755
Number of pages13
JournalIEEE Transactions on Automatic Control
Volume58
Issue number11
DOIs
StatePublished - Nov 14 2013

Keywords

  • Decentralized control
  • networked control systems

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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