Abstract
The use of unmanned vehicles in exploration and surveillance operations has become evermore pervasive in today’s world. The development of cooperative motion strategies has been fueled by this increasing demand. However, many dynamical models for these autonomous vehicles remain simple and are not accurate representations of a vehicle where such cooperative motion strategies may be physically implemented. This paper reviews complementary solutions to the problem of cooperative deployment of autonomous vehicles using multi-center functions. In particular, vehicles are subject to three types of dynamic constraints, such as those due to remaining power supplies, nonholonomic dynamics, and constraints due to external environmental forces. Simulations illustrate the convergence properties of the algorithms when applicable.
Access provided by Autonomous University of Puebla. Download to read the full chapter text
Chapter PDF
Similar content being viewed by others
Keywords
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
References
Payton, D., Daily, M., Estowski, R., Howard, M., Lee, C.: Pheromone robotics 11, 319–324 (2001)
Howard, A., Matarić, M.J., Sukhatme, G.S.: Mobile sensor network deployment using potential fields: A distributed scalable solution to the area coverage problem. In: International Conference on Distributed Autonomous Robotic Systems (DARS 2002), Fukuoka, Japan, pp. 299–308 (2002)
Poduri, S., Sukhatme, G.S.: Constrained coverage for mobile sensor networks, New Orleans, LA, pp. 165–172 (2004)
Choset, H.: Coverage for robotics - a survey of recent results. Annals of Mathematics and Artificial Intelligence 31, 113–126 (2001)
Arkin, R.C.: Behavior-Based Robotics (1998)
Schultz, A.C., Parker, L.E. (eds.): Multi-Robot Systems: From Swarms to Intelligent Automata (2002); Proceedings from the 2002 NRL Workshop on Multi-Robot Systems
Balch, T., Parker, L.E. (eds.): Robot Teams: From Diversity to Polymorphism. A K Peters Ltd., Natick (2002)
Bulusu, N., Heidemann, J., Estrin, D.: Adaptive beacon placement. In: Int. Conference on Distributed Computing Systems, Mesa, AZ, pp. 489–498 (2001)
Cortés, J., Martínez, S., Karatas, T., Bullo, F.: Coverage control for mobile sensing networks. IEEE Trans. Rob. 20, 243–255 (2004)
Cortés, J., Martínez, S., Bullo, F.: Spatially-distributed coverage optimization and control with limited-range interactions. ESAIM: Control Optim. Calc. Var. 11, 691–719 (2005)
Zhong, M., Cassandras, C.G.: Distributed coverage control in sensor network environments with polygonal obstacles, Seoul, Korea, pp. 4162–4167 (2008)
Pimenta, L.C.A., Kumar, V., Mesquita, R.C., Pereira, G.A.S.: Sensing and coverage for a network of heterogeneous robots, pp. 3947–3952 (2008)
Caicedo-Nùñez, C.H., Žefran, M.: Performing coverage on nonconvex domains, San Antonio, TX, pp. 1019–1024 (2008)
Schwager, M., Rus, D., Slotine, J.J.: Decentralized, adaptive coverage control for networked robots. Int. J. Rob. Res. 28, 357–375 (2009)
Martínez, S.: Distributed interpolation schemes for field estimation by mobile sensor networks. IEEE Trans. Control Syst. Technol. ( to appear, 2009)
Cortés, J.: Area-constrained coverage optimization by robotic sensor networks, pp. 1018–1023 (2008)
Pavone, M., Frazzoli, E., Bullo, F.: Distributed policies for equitable partitioning: Theory and applications, pp. 4191–4197 (2008)
Bullo, F., Cortés, J., Martínez, S.: Distributed Control of Robotic Networks (2009), http://www.coordinationbook.info
Okabe, A., Boots, B., Sugihara, K., Chiu, S.N.: Spatial Tessellations: Concepts and Applications of Voronoi Diagrams (2000)
Raghunathan, V., Pereira, C., Srivastava, M., Gupta, R.: Energy-aware wireless systems with adaptive power-fidelity tradeoffs. IEEE Trans. Very Large Scale Integration Systems 13, 211–225 (2005)
Mohapatra, S., Dutt, N., Nicolau, A., Venkatasubramanian, N.: DYNAMO: A cross-layer framework for end-to-end QoS and Energy Optimization in Mobile Handheld Devices. IEEE J. Selected Areas in Communication (2007)
Kwok, A., Martínez, S.: Deployment algorithms for a power-constrained mobile sensor network (to appear, 2009)
Kwok, A., Martínez, S.: Deployment algorithms for a power-constrained mobile sensor network. International Journal of Robust and Nonlinear Control 20, 725–842 (2010)
Sanfelice, R.G., Goebel, R., Teel, A.R.: Results on convergence in hybrid systems via detectability and an invariance principle. In: American Control Conference, pp. 551–556 (2005)
Dubins, L.E.: On curves of minimal length with a constraint on average curvature and with prescribed initial and terminal positions and tangents. American Journal of Mathematics 79, 497–516 (1957)
Goebel, R., Hespanha, J.P., Teel, A.R., Cai, C., Sanfelice, R.G.: Hybrid systems: generalized solutions and robust stability, Stuttgart, Germany, pp. 1–12 (2004)
Goebel, R., Sanfelice, R., Teel, A.: Hybrid dynamical systems. IEEE Control Systems Magazine 29, 28–93 (2009)
Kwok, A., Martínez, S.: Unicycle coverage control via hybrid modeling. IEEE Transactions on Automatic Control 55, 528–532 (2010)
Kwok, A., Martínez, S.: A coverage algorithm for drifters in a river environment. In: 2010 American Control Conference, Baltimore, MD, USA, pp. 6436–6441 (2010)
Kwok, A., Martínez, S.: Deployment of drifters in a piecewise-constant flow environment. In: IEEE International Conference on Decision and Control, Atlanta, GA, USA, pp. 6584–6589 (2010)
Bryson, A.E., Ho, Y.: Applied Optimal Control. Hemisphere Publishing Corporation, New York (1969)
Bakolas, E., Tsiotras, P.: The Zermelo–Voronoi diagram: A dynamic partition problem. Automatica 46, 2059–2067 (2010)
Ru, Y., Martínez, S.: Energy-based Voronoi partition in constant-flow environments. IEEE Transactions on Automation Science and Engineering (2011) (submitted)
Kwok, A., Martínez, S.: A coverage algorithm for drifters in a river environment. In: American Control Conference, Baltimore, MD (to apear, 2010)
Ru, Y., Martínez, S.: Coverage control in constant flow environments using a mixed energy-time metric. In: IEEE International Conference on Decision and Control (Submitted 2012)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2013 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Martínez, S. (2013). Deployment Algorithms for Dynamically Constrained Mobile Robots. In: Milutinović, D., Rosen, J. (eds) Redundancy in Robot Manipulators and Multi-Robot Systems. Lecture Notes in Electrical Engineering, vol 57. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33971-4_8
Download citation
DOI: https://doi.org/10.1007/978-3-642-33971-4_8
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-33970-7
Online ISBN: 978-3-642-33971-4
eBook Packages: EngineeringEngineering (R0)