Hostname: page-component-74656f9884-c52kr Total loading time: 0 Render date: 2026-11-08T14:25:16.501Z Has data issue: false hasContentIssue false
  • English
  • Français

Decentralized control for mobile robotic sensor network self-deployment: barrier and sweep coverage problems

Published online by Cambridge University Press:  16 April 2010

Teddy M. Cheng  and
Andrey V. Savkin
Teddy M. Cheng*
Affiliation:
School of Electrical Engineering and Telecommunications, the University of New South Wales, Sydney NSW 2052, Australia
Andrey V. Savkin
Affiliation:
School of Electrical Engineering and Telecommunications, the University of New South Wales, Sydney, Australia
*
*Corresponding author. E-mail: t.cheng@ieee.org
Rights & Permissions [Opens in a new window]

Summary

Core share and HTML view are not available for this content. However, as you have access to this content, a full PDF is available via the 'Save PDF' action button.

This paper addresses the problems of barrier coverage and sweep coverage in a corridor environment with a network of self-deployed mobile autonomous robotic sensors. Using the ideas of nearest neighbor rules and information consensus, we propose a decentralized control law for the robotic sensors to solve the coverage problems. Numerical simulations illustrate the effectiveness of the proposed algorithm. The results in this paper demonstrate that such simple motion coordination rules can play a significant role in addressing the issue of coverage in a mobile robotic sensor network.

Keywords

Mobile robotic sensor networksRobotic sensor deploymentBarrier coverageSweep coverage

Information

Type
Article
Information
Robotica , Volume 29 , Issue 2 , March 2011 , pp. 283 - 294
Copyright
Copyright © Cambridge University Press 2010

References

1.Acar, E. U., Choset, H., Zhang, Y. and Schervish, M., “Path planning for robotic demining: Robust sensor-based coverage of unstructured environments and probabilistic methods,” Int. J. Robot. Res. 22 (7–8), 441–466 (2003).CrossRefGoogle Scholar
2.Cassinis, R., Bianco, G., Cavagnini, A. and Ransenigo, P., “Strategies for Navigation of Robot Swarms to be Used in Landmines Detection,” Third European Workshop on Advanced Mobile Robots, Zurich, Switzerland (1999) pp. 211–218.Google Scholar
3.Cheng, T. M. and Savkin, A. V., “A distributed self-deployment algorithm for the coverage of mobile wireless sensor networks,” IEEE Commun. Lett. 13 (11), 877–879 (2009).CrossRefGoogle Scholar
4.Choset, H., “Coverage for robotics – A survey of recent results,” Ann. Math. Artif. Intell. 31 (1–4), 113–126 (2001).CrossRefGoogle Scholar
5.Cortes, J., Martinez, S., Karatas, T. and Bullo, F., “Coverage control for mobile sensing networks,” IEEE Trans. Robot. Autom. 20 (2), 243–255 (2004).CrossRefGoogle Scholar
6.Gage, D. W., “Command Control for Many-Robot Systems,” Proceedings of the 19th Annual AUVS Technical Symposium, vol. 4, Hunstville, AL (1992) pp. 22–24.Google Scholar
7.Gage, D. W., “Many-Robot MCM Search Systems,” Proceedings of Autonomous Vehicles in Mine Countermeasures Symposium, Monterey, CA, USA (1995) pp. 9–55.Google Scholar
8.Garcia, E. and De Santos, P. G., “Mobile-robot navigation with complete coverage of unstructured environments,” Robot. Auton. Syst. 46 (4), 195–204 (2004).CrossRefGoogle Scholar
9.Ghosh, A. and Das, S. K., “Coverage and connectivity issues in wireless sensor networks: A survey,” Perv. Mobile Comput. 4 (3), 303–334 (2008).CrossRefGoogle Scholar
10.Harmati, I. and Skrzypczyk, K., “Robot team coordination for target tracking using fuzzy logic controller in game theoretic framework,” Robot. Auton. Syst. 57 (1), 75–86 (2009).CrossRefGoogle Scholar
11.Horn, R. A. and Johnson, C. R., Matrix Analysis (Cambridge University Press, Cambridge, UK, 1985).CrossRefGoogle Scholar
12.Hsieh, M. A., Kumar, V. and Chaimowicz, L., “Decentralized controllers for shape generation with robotic swarms,” Robotica 26 (5), 691–701 (2008).CrossRefGoogle Scholar
13.Jadbabaie, A., Lin, J. and Morse, A. S., “Coordination of groups of mobile autonomous agents using nearest neighbor rules,” IEEE Trans. Autom. Control 48 (6), 988–1001 (2003).CrossRefGoogle Scholar
14.Kloder, S. and Hutchinson, S., “Barrier Coverage for Variable Bounded-Range Line-of-Sight Guards,” Proceedings of the IEEE International Conference on Robotics and Automation, Roma, Italy (2007) pp. 391–396.CrossRefGoogle Scholar
15.Kumar, S., Lai, T. H. and Arora, A., “Barrier coverage with wireless sensors,” Wirel. Netw. 13 (6), 817–834 (2007).CrossRefGoogle Scholar
16.Mathews, G. M., Durrant-Whyte, H. and Prokopenko, M., “Decentralised decision making in heterogeneous teams using anonymous optimisation,” Robot. Auton. Syst. 57 (3), 310–320 (2009).CrossRefGoogle Scholar
17.Ren, W. and Beard, R. W., Distributed Consensus in Multi-Vehicle Cooperative Control (Springer, London, 2008).CrossRefGoogle Scholar
18.Royden, H. L., Real Analysis (Prentice Hall, Englewood Cliffs, NJ, 1988).Google Scholar
19.Savkin, A. V., “Coordinated collective motion of groups of autonomous mobile robots: Analysis of Vicsek's model,” IEEE Trans. Autom. Control 49 (6), 981–983 (2004).CrossRefGoogle Scholar
20.Shen, C., Cheng, W., Liao, X. and Peng, S., “Barrier Coverage with Mobile Sensors,” Proceedings of the International Symposium on Parallel Architectures, Algorithms, and Networks, Sydney, Australia (2008) pp. 99–104.Google Scholar
21.Vicsek, T., Czirok, A., Jacob, E. B., Cohen, I. and Schochet, O., “Novel type of phase transitions in a system of self-driven particles,” Phys. Rev. Lett. 75, 1226–1229 (1995).CrossRefGoogle Scholar
22.Wang, G., Cao, G. and La Porta, T. F., “Movement-assisted sensor deployment,” IEEE Trans. Mobile Comput. 5 (6), 640–652 (2006).CrossRefGoogle Scholar
23.Wang, W., Srinivasan, V. and Chua, K., “Coverage in hybrid mobile sensor networks,” IEEE Trans. Mobile Comput. 7 (11), 1374–1387 (2008).CrossRefGoogle Scholar
24.Yu, H. and Wang, Y., “Coordinated collective motion of groups of autonomous mobile robots with directed interconnected topology,” J. Intell. Robot. Syst. 53 (1), 87–98 (2008).CrossRefGoogle Scholar