Monitoring environmental boundaries with a robotic sensor network

被引：17
|
作者：
Susca, Sara [1 ]
Martinez, Sonia [2 ]
Bullo, Francesco [1 ]
机构：
[1] Univ Calif Santa Barbara, Ctr Control Dynam Syst & Computat, Santa Barbara, CA 93106 USA
[2] Univ Calif San Diego, Dept Mech & Aerosp Engn, La Jolla, CA 92093 USA
来源：
2006 AMERICAN CONTROL CONFERENCE, VOLS 1-12 | 2006年 / 1-12卷
关键词：
D O I：
10.1109/ACC.2006.1656525
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper we propose and analyze an algorithm to monitor an environmental boundary with mobile sensors. The objective is to optimally approximate the boundary with a polygon. The mobile sensors rely only on sensed local information to position some interpolation points and define an approximating polygon. We design an algorithm that distributes the vertices of the approximating polygon uniformly along the boundary. The notion of uniform placement relies on a metric inspired by known results on approximation of convex bodies. The algorithm is provably convergent for static boundaries and also for slowly-moving boundaries because of certain input-to-state stability properties.
引用
收藏
页码：2072 / +
页数：2
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