TY - GEN
T1 - Reliable coverage control using heterogeneous vehicles
AU - Hussein, Islam I.
AU - Stipanović, Dušan M.
AU - Wang, Yue
PY - 2007
Y1 - 2007
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=62749112770&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=62749112770&partnerID=8YFLogxK
U2 - 10.1109/CDC.2007.4434510
DO - 10.1109/CDC.2007.4434510
M3 - Conference contribution
AN - SCOPUS:62749112770
SN - 1424414989
SN - 9781424414987
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 6142
EP - 6147
BT - Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 46th IEEE Conference on Decision and Control 2007, CDC
Y2 - 12 December 2007 through 14 December 2007
ER -