Reliable coverage control using heterogeneous vehicles

Islam I. Hussein, Dusan M Stipanovic, Yue Wang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The focus of this paper is dynamic coverage control with heterogeneous vehicles. Two classes of vehicles are identified, where each class has to perform a specific set of tasks and each has different sensor and communication capabilities. The first class of vehicles is composed of coverage vehicles, whose main responsibility is to dynamically cover the domain. The second class of vehicles is composed of coordination vehicles, whose main responsibility is to effectively communicate coverage information across the network. In this paper, control laws are developed for both coordination and coverage vehicles that ensure safe coverage of the domain, while maintaining strong communication links by including a flocking component in the control laws. These set of guaranteed performance properties result in a reliable coverage network.

Original languageEnglish (US)
Title of host publicationProceedings of the 46th IEEE Conference on Decision and Control 2007, CDC
Pages6142-6147
Number of pages6
DOIs
StatePublished - Dec 1 2007
Event46th IEEE Conference on Decision and Control 2007, CDC - New Orleans, LA, United States
Duration: Dec 12 2007Dec 14 2007

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0191-2216

Other

Other46th IEEE Conference on Decision and Control 2007, CDC
CountryUnited States
CityNew Orleans, LA
Period12/12/0712/14/07

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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