Jorge Cortés
Professor
Cymer Corporation Endowed Chair
Spatial detection of areas of abrupt change by
robotic networks
H. Gao, J. Cortés
Proceedings of the ASME Dynamic Systems and Control Conference, Hollywood, California, 2009, DSCC2009-2760
Abstract
This paper studies robotic sensor networks performing
spatial detection of areas of rapid change in physical phenomena.
We encode the task by means of an objective function, called
wombliness, which measures the change of the spatial field along
the open polygonal curve defined by the positions of the robotic
sensors. This curve can become self-intersecting when evolving
along the gradient flow of the wombliness. Borrowing tools from
discontinuous dynamics and hybrid systems, we design the
distributed wombling algorithm that allows for network
re-positioning, splitting, and merging, while guaranteeing the
monotonic evolution of the wombliness. We analyze its convergence
properties and illustrate our approach in simulations.
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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