Abstract

This paper considers dynamic coverage control for nonholonomic agents along with collision avoidance guarantees. The novelties of the approach rely on the consideration of anisotropic sensing, which is realized via conic sensing footprints and sensing (coverage) functions for each agent, and on a novel form of avoidance functions. The considered sensing functions encode field-of-view and range constraints, and also the degradation of effective sensing close to the boundaries of the sensing footprint. Thus the proposed approach is suitable for surveillance applications where each agent is assigned with the task to gather enough information, such as video streaming in an obstacle environment. The efficacy of the approach is demonstrated through simulation results.

Original languageEnglish (US)
Article number7039724
Pages (from-to)2198-2203
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
Volume2015-February
Issue numberFebruary
DOIs
StatePublished - Jan 1 2014
Event2014 53rd IEEE Annual Conference on Decision and Control, CDC 2014 - Los Angeles, United States
Duration: Dec 15 2014Dec 17 2014

Fingerprint

Nonholonomic
Coverage
Sensing
Video streaming
Collision avoidance
Degradation
Video Streaming
Collision Avoidance
Function Fields
Field of View
Surveillance
Vision
Efficacy
Range of data
Simulation

ASJC Scopus subject areas

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

Cite this

Vision-based dynamic coverage control for nonholonomic agents. / Panagou, Dimitra; Stipanovic, Dusan M.; Voulgaris, Petros G.

In: Proceedings of the IEEE Conference on Decision and Control, Vol. 2015-February, No. February, 7039724, 01.01.2014, p. 2198-2203.

Research output: Contribution to journalConference article

@article{f5511d91649e4293b32182cdaa292f5a,
title = "Vision-based dynamic coverage control for nonholonomic agents",
abstract = "This paper considers dynamic coverage control for nonholonomic agents along with collision avoidance guarantees. The novelties of the approach rely on the consideration of anisotropic sensing, which is realized via conic sensing footprints and sensing (coverage) functions for each agent, and on a novel form of avoidance functions. The considered sensing functions encode field-of-view and range constraints, and also the degradation of effective sensing close to the boundaries of the sensing footprint. Thus the proposed approach is suitable for surveillance applications where each agent is assigned with the task to gather enough information, such as video streaming in an obstacle environment. The efficacy of the approach is demonstrated through simulation results.",
author = "Dimitra Panagou and Stipanovic, {Dusan M.} and Voulgaris, {Petros G.}",
year = "2014",
month = "1",
day = "1",
doi = "10.1109/CDC.2014.7039724",
language = "English (US)",
volume = "2015-February",
pages = "2198--2203",
journal = "Proceedings of the IEEE Conference on Decision and Control",
issn = "0191-2216",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
number = "February",

}

TY - JOUR

T1 - Vision-based dynamic coverage control for nonholonomic agents

AU - Panagou, Dimitra

AU - Stipanovic, Dusan M.

AU - Voulgaris, Petros G.

PY - 2014/1/1

Y1 - 2014/1/1

N2 - This paper considers dynamic coverage control for nonholonomic agents along with collision avoidance guarantees. The novelties of the approach rely on the consideration of anisotropic sensing, which is realized via conic sensing footprints and sensing (coverage) functions for each agent, and on a novel form of avoidance functions. The considered sensing functions encode field-of-view and range constraints, and also the degradation of effective sensing close to the boundaries of the sensing footprint. Thus the proposed approach is suitable for surveillance applications where each agent is assigned with the task to gather enough information, such as video streaming in an obstacle environment. The efficacy of the approach is demonstrated through simulation results.

AB - This paper considers dynamic coverage control for nonholonomic agents along with collision avoidance guarantees. The novelties of the approach rely on the consideration of anisotropic sensing, which is realized via conic sensing footprints and sensing (coverage) functions for each agent, and on a novel form of avoidance functions. The considered sensing functions encode field-of-view and range constraints, and also the degradation of effective sensing close to the boundaries of the sensing footprint. Thus the proposed approach is suitable for surveillance applications where each agent is assigned with the task to gather enough information, such as video streaming in an obstacle environment. The efficacy of the approach is demonstrated through simulation results.

UR - http://www.scopus.com/inward/record.url?scp=84988287759&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84988287759&partnerID=8YFLogxK

U2 - 10.1109/CDC.2014.7039724

DO - 10.1109/CDC.2014.7039724

M3 - Conference article

AN - SCOPUS:84988287759

VL - 2015-February

SP - 2198

EP - 2203

JO - Proceedings of the IEEE Conference on Decision and Control

JF - Proceedings of the IEEE Conference on Decision and Control

SN - 0191-2216

IS - February

M1 - 7039724

ER -