Jorge Cortés
Professor
Cymer Corporation Endowed Chair
Coverage control for mobile sensing networks
J. Cortés, S. Martínez, T. Karatas, F. Bullo
Proceedings of the 2002 IEEE Int. Conf. Robotics and Automation, Arlington, Virginia, USA, 2002, pp. 1327-1332
Abstract
This paper describes decentralized control laws for the coordination
of multiple vehicles performing spatially distributed tasks. The
control laws are based on a gradient descent scheme applied to a class
of decentralized utility functions that encode optimal coverage and
sensing policies. These utility functions are studied in geographical
optimization problems and they arise naturally in vector quantization
and in sensor allocation tasks. The approach exploits the
computational geometry of spatial structures such as Voronoi diagrams.
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