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coverage control of Sensor Networks in IoT Based on RPSO

IEEE INTERNET OF THINGS JOURNAL 2018年第5期5卷 3521-3532页

作者： Wang, Xiaohui Zhang, Hao Fan, Sisi Gu, Haoran Beihang Univ Sch Aeronaut Beijing 100191 Peoples R China

In this paper, we proposed a novel method to solve the coverage control problem of sensor networks in the Internet of Things (IoT). The coverage control is an important index to evaluate the performance of network services. Ensuring the quality of network services, it is mainly to maximize the coverage of the network and minimize the energy consumption at the same time for the purpose of extending the network life cycle effect. Because of the overlay redundancy, it adopts the sleeping scheduling mechanism of nodes. The optimal solution is obtained after utilizing the coverage rate and the node sleep rate as the optimization objective function. Particle swarm optimization (PSO) is a group intelligent optimization algorithm. In practical applications, PSO often convergence in the local optimal solution prematurely. In order to balance the global search ability and convergence speed of PSO, We have improved the PSO based on the resampling technique, named resampled PSO (RPSO). The RPSO can not only maintain the diversity of the population, which can avoid premature convergence of the algorithm to some extent, but also ensure that each particle is active, reducing the calculation of redundancy, thereby improving the efficiency of the algorithm. The experimental results show that the RPSO can deal with complex multipeak optimization problem efficiently and reliably. Then the RPSO is used to solve the coverage control problem of sensor networks in IoT and has a great performance.

关键词： coverage control Internet of Things (IoT) resample particle swarm optimization (RPSO) sensor and actuator networks

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coverage control of multiple robots in cluttered three-dimensional environments

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IET RADAR SONAR AND NAVIGATION 2021年第9期15卷 1016-1029页

作者： Kim, Jonghoek Hongik Univ Elect & Elect Convergence Dept Sejong City South Korea

Distributed network systems can be utilized to measure environmental conditions such as temperature, sound, pollution levels, humidity, wind, and so on. Multiple autonomously moving mobile sensors are used to construct distributed sensor networks in an unknown cluttered 3-D workspace. The proposed strategy is to deploy mobile sensors (robots) sequentially and individually to extend the network until the network fully covers the entire open space. This strategy results in 3-D sensor networks without sensing holes and does not require global localization of a robot except for a single robot called the Communication Navigation Aid. The authors believe this article is unique in constructing sensor networks in 3-D workspaces cluttered with many obstacles. Moreover, this article presents an innovative recovery algorithm to handle sensor failures in the constructed network. Network connectivity is maintained while robots move in unknown 3-D cluttered environments. Once a robot is deployed at its designated location, it becomes localized in global coordinate systems. Utilizing MATLAB, the effectiveness of the proposed deployment methods is demonstrated.

关键词： environmental conditions navigation Spatial variables control network connectivity sensor placement Optimisation techniques Sensing devices and transducers entire open space three-dimensional environments Mobile radio systems Wireless sensor networks distributed network systems mobile radio distributed sensor networks mobile robots multiple robots multi-robot systems pollution levels wireless sensor networks sensor failures global coordinate systems mobile sensors coverage control constructed network Mobile robots 3-D cluttered environments distributed sensors

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coverage control of Multiple Unmanned Aerial Vehicles: A Short Review

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UNMANNED SYSTEMS 2018年第2期6卷 131-144页

作者： Huang, Sunan Teo, Rodney Swee Huat Leong, William Wai Lun Martinel, Niki Forest, Gian Luca Micheloni, Christian Natl Univ Singapore Temasek Labs T Lab Bldg 5AEngn Dr 1Unit 05-02 Singapore 117411 Singapore Univ Udine Dept Math Comp Sci & Phys AVIRES Lab Udine Italy

A multiple unmanned aerial vehicle (MUAV) system is a group of vehicles that are designed with the aim to perform some collective behavior. coverage control is one of the most active research fields in MUAVs. As MUAVs are nowadays widely used in many application areas, the research in the coverage control problem has become a hot point. Although several coverage control methods have been reported, there is a lack of work highlighting the features of these methods. In this paper, we present a survey of the most relevant works in this area, classifying the types of these works and describing the main contributions in their works.

关键词： coverage control cooperative control unmanned aerial vehicles

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coverage control for Mobile Sensor Networks on a Circle

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UNMANNED SYSTEMS 2014年第3期2卷 243-248页

作者： Song, Cheng Feng, Gang Nanjing Univ Sci & Technol Sch Automat Nanjing 210094 Jiangsu Peoples R China City Univ Hong Kong Dept Mech & Biomed Engn Kowloon Hong Kong Peoples R China

This paper investigates the coverage problem for mobile sensor networks on a circle. The goal is to minimize the largest distance from any point on the circle to its nearest sensor while preserving the mobile sensors' order. The coverage problem is translated into a multi-agent consensus problem by showing that the largest distance from any point to its nearest sensor is minimized if the counterclockwise distance between each sensor and its right neighbor reaches a consensus. Distributed control laws are also developed to drive the mobile agents to the optimal configuration with order preservation. Simulation results illustrate the effectiveness of the proposed control laws.

关键词： coverage control mobile sensor networks order preservation

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coverage control in constant flow environments based on a mixed energy-time metric

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AUTOMATICA 2013年第9期49卷 2632-2640页

作者： Ru, Yu Martinez, Sonia GE Global Res Shanghai Peoples R China Univ Calif San Diego Dept Mech & Aerosp Engn San Diego CA 92103 USA

In this paper, we study a multi-vehicle coverage control problem in constant flow environments while taking into account both energy consumption and traveling time. More specifically, the metric (called the mixed energy-time metric) is a weighted sum of the energy consumption and the traveling time for a vehicle to travel from one point to another in constant flows when using the minimum energy control, and the objective is to find vehicle locations that can minimize the expected mixed energy-time required for the set of vehicles to cover a region. We propose a gradient based control law which is calculated based on refined approximated Voronoi cells (induced by the mixed energy-time metric) and of which the convergence is proved via Hybrid Systems Theory. Simulations show that the refined gradient based control can achieve similar performance as the exact gradient based control. (C) 2013 Elsevier Ltd. All rights reserved.

关键词： coverage control Flow environment Minimum energy control Voronoi partitions Hybrid systems

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coverage control for Mobile Sensor Networks with Input Saturation

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UNMANNED SYSTEMS 2016年第1期4卷 15-21页

作者： Song, Cheng Liu, Lu Feng, Gang Nanjing Univ Sci & Technol Sch Automat Nanjing 210094 Jiangsu Peoples R China City Univ Hong Kong Dept Mech & Biomed Engn Kowloon Hong Kong Peoples R China

This paper addresses the coverage control problem for a network of mobile sensors with first-order discrete-time dynamics, where the goal is to minimize a coverage cost function which is defined as the largest distance between any point on a circle and its nearest sensor. Since in practice sensors' moving speed is always upper bounded, there exist saturation constraints on the control inputs of the mobile sensors. In this paper, distributed coverage control laws with input saturation are developed to drive the sensors to the final configuration such that the coverage cost function is minimized. It is also shown that the spatial order of the mobile sensors is preserved throughout the network's evolution. As a result, collision avoidance between mobile sensors is always guaranteed.

关键词： coverage control mobile sensor networks order preservation input saturation

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coverage control of Unicycle Agents under Constant Speed Constraints

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IFAC-PapersOnLine 2017年第1期50卷 2471-2476页

作者： Liu Q. Ye M. Sun Z. Qin J. Yu C. Research School of Engineering The Australian National University Canberra ACT 0200 Australia Department of Automation University of Science and Technology of China Hefei 230027 China School of Automation Hangzhou Dianzi University Hangzhou 310018 China

This paper studies the problem of optimal coverage control over a convex bounded region by a group of unicycle-type mobile agents with constant speeds. We further assume that the constant speeds for different agents may be non-identical. Thus, a unicycle is controlled solely via steering of its orientation in which a virtual centre is defined for each unicycle. A basic controller is proposed which asymptotically drive the virtual centres to a Centroidal Voronoi configuration, thus achieving the optimal coverage objective. At the Centroidal Voronoi configuration, each unicycle executes steady-state circular orbit about its virtual centre. To overcome a drawback of the basic controller that requires a careful selection of initial conditions, a modified switching controller is proposed which achieves a Centroidal Voronoi configuration for arbitrarily chosen initial conditions. Simulations for both the basic and modified controllers are presented for a five-unicycle group. © 2017

关键词： coverage control non-identical speed unicycle agent

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coverage control of multiple ocean vehicles for environment monitoring with energy constraints

Coverage control of multiple ocean vehicles for environment ...

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Oceans Conference

作者： Zuo, Lei Yan, Weisheng Cui, Rongxin Chen, Wei Bai, Xiaoshan Northwestern Polytech Univ Sch Marine Sci & Technol Xian 710072 Shaanxi Peoples R China

ISBN: (纸本)9781479936465

A coverage control algorithm in unknown environment is proposed for the multi-vehicle systems in this paper. The measurement white-noise is taken into consideration while learning the interest information online. The Kalman Filter (KF) is introduced to eliminate the noise disturbance and provide us a set of accurately sampled-data. Then, we describe an adaptive algorithm to approximate the sensory function by using the sampled-data from KF. A decentralized adaptive control architecture is proposed to drive the vehicles converge to the optimal coverage configuration with the estimated Voronoi Centroids. Finally, simulations are carried out to demonstrate the adaptive estimation algorithm and show us that the multi-vehicle systems will converge to the optimal coverage configuration.

关键词： coverage control Ocean Vehicle Energy Constraints KF

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coverage control of a Dynamic Large-Scale Environment Using Sector -Based Sensors 2

Coverage Control of a Dynamic Large-Scale Environment Using ...

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2nd RSI/ISM International Conference on Robotics and Mechatronics (ICRoM)

作者： Mohammadi, Afshin Abdollahi, Farzaneh Naraghi, Mahyar Amirkabir Univ Technol Dept Elect Engn Tehran Iran Amirkabir Univ Technol Dept Mech Engn Tehran Iran

ISBN: (纸本)9781479967438

There are many applications have emerged in recent years using Multiple Autonomous Vehicles (MAVs). One of the problem in the domain of MAVs is search through an domain of interest which is commonly a dynamic terrain. Most researchers address this challenge considering some assumptions as small-scale terrain and infinite sensing range of the sensors. In this paper a search and coverage control algorithm for a large scale domain of interest will be developed which guarantees to achieve the desired amount data from each point in the domain. Also this research tries to prepare the proposed algorithm to cover the interesting domain by faulty robots. Finally simulations prove the ability of proposed algorithm to satisfy desired expectations. The novelty of this paper is to cover a domain by using sector-based sensors. The stability of the proposed algorithm is presented using Lyapunov stability theorem.

关键词： coverage control multiple autonomous vehicles faulty robots

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coverage control of Autonomous Vehicles for Oil Spill Cleaning in Dynamic and Uncertain Environments

Coverage Control of Autonomous Vehicles for Oil Spill Cleani...

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American control Conference (ACC)

作者： Jin, Xin Ray, Asok Natl Renewable Energy Lab Golden CO 80401 USA

ISBN: (纸本)9781479901784

In the context of oil spill cleaning by autonomous vehicles in dynamic and uncertain environments, this paper presents a multi-resolution algorithm that seamlessly integrates the concepts of local navigation and global navigation based on the sensory information;the objective here is to enable adaptive decision-making and online replanning of paths. The proposed algorithm provides a complete coverage of the search area for cleanup of the oil spills and does not suffer from the problem of having local minima, which is commonly encountered in potential-field-based methods. The efficacy of the algorithm is tested on a high-fidelity Player/Stage simulator for oil spill cleaning in a harbor, where the underlying oil weathering process is modeled as 2D random-walk particle tracking.

关键词： autonomous agents oil spill coverage control uncertain environment path planning

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