Jorge Cortés
Professor
Cymer Corporation Endowed Chair
Distributed wombling by robotic sensor networks
J. Cortés
International Conference on Hybrid Systems: Computation and Control,
eds. R. Majumdar and P. Tabuada, Lecture Notes in Computer Science,
vol. 5469, Springer-Verlag, 2009, pp. 120-134
Abstract
This paper proposes a distributed coordination algorithm for robotic
sensor networks to detect boundaries that separate areas of abrupt
change of spatial phenomena. We consider an aggregate objective
function, termed wombliness, that measures the change of the spatial
field along the closed polygonal curve defined by the location of the
sensors in the environment. We encode the network task as the
optimization of the wombliness and characterize the smoothness
properties of the objective function. In general, the complexity of
the spatial phenomena makes the gradient flow cause self-intersections
in the polygonal curve described by the network. Therefore, we design
a distributed coordination algorithm that allows for network splitting
and merging while guaranteeing the monotonic evolution of wombliness.
The technical approach combines ideas from statistical estimation,
dynamical systems, and hybrid modeling and design.
pdf   |
  ps.gz
Mechanical and Aerospace Engineering,
University of California, San Diego
9500 Gilman Dr,
La Jolla, California, 92093-0411
Ph: 1-858-822-7930
Fax: 1-858-822-3107
cortes at ucsd.edu
Skype id:
jorgilliyo